CANopen Programmer's Manual - Maccon.de

6: Homing Mode Operation CANopen Programmer’s Manual
Upper Home Outside Index
Direction of Motion: Positive
Home is the first index pulse on the positive side of 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
Index Pulse
Set Homing Method (index 0x6098, p. 184) to: 10.
Direction of Motion: Negative
Home is the first index pulse on the positive side of the positive edge of a momentary home
switch. Initial direction of motion is negative if the home switch is inactive. If the initial position is
right of the home position, the axis reverses on encountering the home switch.
Home Switch
Negative Limit
Switch
Index Pulse
Set Homing Method (index 0x6098, p. 184) to: 11.
180 Copley Controls
H
H
H
H