CANopen Programmer's Manual - Maccon.de

6: Homing Mode Operation CANopen Programmer’s Manual
Home is Current Position
Using this method, home is the current position.
Set Homing Method (index 0x6098, p. 184) to: 0.
Home is Current Position; Move to New Zero
Set current position to home and move to new zero position (including home offset). This is the
same as Home is Current Position except that mode 0 does not do the final move to the home
position.
Set Homing Method (index 0x6098, p. 184) to: 35.
Next Index
Direction of Motion: Positive
Home is the first index pulse found in the positive direction. Direction of motion is positive. If a
positive limit switch is activated before the index pulse, an error is generated.
Index Pulse
Set Homing Method (index 0x6098, p. 184) to: 34.
Direction of Motion: Negative
Home is the first index pulse found in negative direction. Direction of motion is negative. If a
negative limit switch is activated before the index pulse, an error is generated.
Index Pulse
Set Homing Method (index 0x6098, p. 184) to: 33.
168 Copley Controls
H
H