CANopen Programmer's Manual - Maccon.de

6: Homing Mode Operation CANopen Programmer’s Manual
Copley Controls Home Configuration Object for Custom Homing Methods
Copley Controls provides an object that provides access to the amplifier’s internal home
configuration register. When a standard CANopen homing method is used, the software
automatically sets a value in this register.
To specify homing options that are not supported by the standard CANopen methods, the
application can directly program this configuration register. This provides finer control of the
homing methods then the standard CANopen ones allow.
For example, all of the standard CANopen homing methods will cause a move to the new zero
position after it has been found. With a large home offset, this could be a large or slow move. This
final move can be avoided by programming the internal home configuration register directly.
182 Copley Controls