CANopen Programmer's Manual - Maccon.de

6: Homing Mode Operation CANopen Programmer’s Manual
Hardstop Out to Index
Direction of Motion: Positive
Home is the first index pulse on the negative side of the positive hard stop. Initial 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.
Index Pulse
Set Homing Method (index 0x6098, p. 184) to: -4.
Direction of Motion: Negative
Home is the first index pulse on the positive side of the negative hard stop. Initial 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.
Index Pulse
Set Homing Method (index 0x6098, p. 184) to:-3.
H
172 Copley Controls
H