CANopen Programmer's Manual - Maccon.de

CANopen Programmer’s Manual 6: Homing Mode Operation
Upper Home
Direction of Motion: Positive
Home is the positive edge of a momentary home switch. Initial direction of motion is positive. If the
initial motion leads away from the home switch, the axis reverses on encountering the positive limit
switch; then, if a negative limit switch is activated before the home switch, an error is generated.
Home Switch
Positive Limit
Switch
Set Homing Method (index 0x6098, p. 184) to: 25
Direction of Motion: Negative
Home is the positive edge of momentary home switch. Initial direction of motion is negative if the
home switch is inactive. If the initial motion leads away from the home switch, the axis reverses on
encountering the negative limit switch; then, if a positive limit switch is activated before the home
switch, an error is generated.
Home Switch
Negative Limit
Switch
Set Homing Method (index 0x6098, p. 184) to: 27
Copley Controls 177
H
H
H
H