Why Does the Position Not Return to Zero After Setting the Current Position as Home on an A6 Series Drive?
The A6 series supports 35 different homing modes. Here, we focus specifically on Homing Mode 35.
Homing Mode 35 allows you to directly set the motor's current position as the home origin (zero point) without requiring the motor to rotate. The motor's position can be read from parameter U40.16. If you have set Homing Mode 35 but find that the motor's position value remains unchanged, the issue almost certainly lies in an incorrect or incomplete sequence of operational steps.
The correct operational procedure is as follows:
- Set C10.01 = 35 to select Homing Mode 35.
- Set C10.00 = 2 to initiate the homing operation command.
- Assign the homing start function to a Digital Input (DI). For example, set DI1 for this purpose by configuring C04.00 = 25.
- Ensure the motor is enabled. Typically, this involves setting another DI for Servo Enable (C04.11 = 1).
- Trigger the homing function by activating the assigned DI (e.g., set C04.01 = 1 for DI1 to trigger the homing start).
After these steps, the value of U40.16 should become 0, indicating the motor's current position has been set to zero.
(Alternatively, you can achieve this more directly by simply setting C10.00 = 3. This command will immediately set the current position to zero without needing the DI trigger setup described in steps 3-5.)
Updated on: 28/11/2025
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