ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 59)

9: Homing
607Ch: Home offset
6098h: Homing method
6099h: Homing speeds
609Ah: Homing acceleration
9.1 General Information
This chapter describes the method by which a drive seeks the home position (also called
the datum, reference point or zero point). Homing can be performed using limit switches
at the ends of travel or a home switch (zero point switch) in mid-travel; most of the
methods also use the index (zero) pulse train from an incremental encoder.
Input Data
The user can specify the speeds, acceleration and method of homing. An additional
object, home offset, is used to displace zero in the user’s coordinate system from the home
position. There are two homing speeds: in a typical cycle the faster speed is used to find the
home switch and the slower speed is used to find the index pulse.
Output Data
There is no output data except for those bits in the statusword that return the status or
result of the homing process and the demand to the position control loops.
Internal States
The homing mode is controlled by the bits of the controlword and statusword.
Homing Mode Controlword
Bit Function
0…3
Described in Device Control
4 Home operation start
5..6 Reserved
7
Described in Device Control
8 Halt
9..12
Described in Device Control
13..15 Described in Device Control
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
53