CANopen Programmer's Manual - Maccon.de

CANopen Programmer’s Manual 6: Homing Mode Operation
Upper Home Inside Index
Direction of Motion: Positive
Home is the first index pulse on the negative side of the positive edge of momentary home switch.
Initial direction of motion is positive. If 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: 9.
Direction of Motion: Negative
Home is the first index pulse on the negative side of the positive edge of a momentary home
switch. Initial direction of motion is negative if the home switch is inactive. If initial motion leads
away from the home switch, the axis reverses on encountering the negative limit; then, if a
negative limit switch is activated before the home switch, an error is generated.
Home Switch
Negative Limit
Switch
Index Pulse
Set Homing Method (index 0x6098, p. 184) to: 12.
Copley Controls 181
H
H
H
H