TMCM-351 CANopen Firmware Manual - Trinamic
TMCM-351 CANopen Firmware Manual - Trinamic
TMCM-351 CANopen Firmware Manual - Trinamic
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<strong>TMCM</strong>-341/342/343/<strong>351</strong> <strong>CANopen</strong> <strong>Firmware</strong> <strong>Manual</strong> (V1.04 / 2011-AUG-01) 57<br />
7.3.3 Homing methods: Homing on negative home switch and index<br />
pulse<br />
There are several different methods of homing. This paragraph describes homing on negative home<br />
switch and index pulse.<br />
Using the two methods as shown in Figure 7.6, the initial position is situated so that the direction of<br />
movement is dependent on the state of the home switch. The home position is at the index pulse to<br />
either to the left or the right of the point where the home switch changes state. If the initial position<br />
is situated so that the direction of movement is reverse during homing, the point at which the<br />
reversal takes place is anywhere after a change of state of the home switch.<br />
Index pulse<br />
Home switch<br />
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG<br />
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Figure 7.6: Homing on negative home switch and index pulse<br />
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