CANopen Programmer's Manual - Maccon.de

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6: Homing Mode Operation CANopen Programmer’s Manual HOMING METHOD INDEX 0X6098 Type Access Units Range Map PDO Memory Integer 8 RW - See Description, below. YES RF Description The method for finding the motor home position in homing mode. Program a method described below by writing its code to 0x6098. Most of the methods are paired. Each member of a pair uses the same basic method but starts in the opposite direction and has a distinct code. For a full description of any method, see the referenced pages. Homing Method Initial Motion Code Full Description # Hardstop Out to Index Positive -4 p. 172 Negative -3 Hardstop Negative -2 p. 171 Positive -1 Home is Current Position Any 0 p. 168 Home is Current Position; Move to New Zero Any 35 p. 168 Limit Switch Out to Index Negative 1 p. 170 Positive 2 Home Switch Out to Index Positive 3 p. 174 Negative 5 Home Switch In to Index Positive 4 p. 175 Negative 6 Lower Home Outside Index Positive 7 p. 178 Negative 14 Lower Home Inside Index Positive 8 p. 179 Negative 13 Upper Home Inside Index Positive 9 p. 181 Negative 12 Upper Home Outside Index Positive 10 p. 180 Negative 11 Limit Switch Negative 17 p. 169 Positive 18 Home Switch Positive 19 p. 173 Negative 21 Lower Home Positive 23 p. 176 Negative 29 Upper Home Positive 25 p. 177 Negative 27 Next Index Positive 34 p. 168 Negative 33 Reserved for future use. 15-16, 20, 22, 24, 26, 28, 30-32 Note that these homing methods only define the location of the home position. The zero position is always the home position adjusted by the homing offset. See Homing Methods Overview, p.167. 184 Copley Controls
CANopen Programmer’s Manual 6: Homing Mode Operation HOMING SPEEDS INDEX 0X6099 Type Access Units Range Map PDO Memory Array RW - - YES - Description This array holds the two velocities used when homing. Sub-index 0 contains the number of subelements of this record. HOME VELOCITY – FAST INDEX 0X6099, SUB-INDEX 1 Type Access Units Range Map PDO Memory Integer 32 RW 0.1 counts/sec 0 – 500,000,000 YES RF Description This velocity value is used during segments of the homing procedure that may be handled at high speed. Generally, this means move in which the home sensor is being located, but the edge of the sensor is not being found. HOME VELOCITY – SLOW INDEX 0X6099, SUB-INDEX 2 Type Access Units Range Map PDO Memory Integer 32 RW 0.1 counts/sec 0 – 500,000,000 YES RF Description This velocity value is used for homing segment that require low speed such as cases where the edge of a homing sensor is being sought. HOMING ACCELERATION INDEX 0X609A Type Access Units Range Map PDO Memory Unsigned 32 RW 10 counts/sec 2 0 – 200,000,000 YES RF Description This value defines the acceleration used for all homing moves. The same acceleration value is used at the beginning and ending of moves (i.e. there is no separate deceleration value). HOME OFFSET INDEX 0X607C Type Access Units Range Map PDO Memory Integer 32 RW counts - YES RF Description The home offset is the difference between the zero position for the application and the machine home position (found during homing). During homing the home position is found. Once the homing is completed the zero position is offset from the home position by adding the Home Offset to the home position. All subsequent absolute moves shall be taken relative to this new zero position. See Home Offset (p. 166) for more information. Copley Controls 185
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