ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 181)

• If the interpolation data is generated by the user, then the last point
should be sent twice if the user wants to stop motion with speed 0.
10.5 Homing (HM) mode
Homing mode gives an opportunity to a DS402 Axis to seek 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 to signal home
position) in mid-travel; most of the homing methods also use the index (zero) pulse
train from an incremental encoder. For a more detailed description of DSP 402 HM
Mode, see in the Homing section of “Elmo CANopen DS 402 Implementation
Guide”.
10.5.1 Homing (HM) Commands
Note: Set and get commands are allowed for Axis objects and only set commands are
allowed for the Vector and Group objects.
The following commands are implemented in HM mode:
Object Index
and Subindex
Full Command Short
Command
Elmo Short
Command
Description
0x609A, 0x00 HomingAcceleration hac - Homing acceleration
0x6099, 0x01 HomingSwitchVelocity hsv - Speed during search for
switch
0x6099, 0x02 HomingZeroVelocity hzv - Speed during search for
switch
0x607C, 0x00 HomingOffset hof - Homing offset
parameter
0x6098, 0x00 HomingMethod hom - Homing operation
method
0x6040, 0x00
(View Section
11.8, DS402
PDO Mapping
Table) HomingActive hma hm Homing mode activate
Commands using:
a1.hac=50000
a1.hsv=a1.hzv=1000
a1.hof=200
a1.hom=2
a1.hma=1
Axis properties connected to HM mode:
Maestro Software Manual DS402 Command Reference
MAN-MASSW (Ver. Q)
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