Intelligent Motion Systems MDrive DSP-402 - Manual (Page 55)

47 Part 2: DSP-402 Implementation
Methods 33 and 34: Homing on an Index Pulse
Using methods 33 or 34 the direction of homing is negative or positive respectively. The home position is at the
index pulse found in the selected direction.
Method 35: Homing on the Current Position
In method 35 the current position is taken to be the home position.
Homing Speeds (6099h)
Object Description
Index
6099
h
Name
Homing Speeds
Object Code
VAR
Data Type
Unsigned 32
Entry Description
Sub-Index Description Category Access PDO
Mapping
Value Range Default
01h Number of Entries Mandatory RO No 2 2
02h
Speed during search for
switch
Mandatory R/W Possible Unsigned 32 0
03h
Speed during search for
zero
Mandatory R/W Possible Unsigned 32 0
34
33
Index Pulse
Figure 7.10: Homing on the Index Pulse