CANopen Programmer's Manual - Maccon.de

CANopen Programmer’s Manual 6: Homing Mode Operation
Hardstop
Direction of Motion: Positive
Home is the positive hard stop. Direction of motion is positive. The hard stop is reached when the
amplifier outputs the homing Current Limit continuously for the amount of time specified in the
Delay Time. If a positive limit switch is activated before the hard stop, an error is generated.
In stepper amplifiers in stepper mode, the hard stop is reached when the following error exceeds
the tracking window.
Set Homing Method (index 0x6098, p. 184) to: -1.
Direction of Motion: Negative
Home is the negative hard stop. Direction of motion is negative. The hard stop is reached when
the amplifier outputs the homing Current Limit continuously for the amount of time specified in the
Delay Time. If a negative limit switch is activated before the hard stop, an error is generated.
Set Homing Method (index 0x6098, p. 184) to: -2.
H
Copley Controls 171
H