TMCM-351 CANopen Firmware Manual - Trinamic

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TMCM-341/342/343/351 CANopen Firmware Manual (V1.04 / 2011-AUG-01) 60 7.3.5.1 Object 607C h, 687C h, and 707C h: Home offset This object indicates the configured difference between the zero position for the application and the machine home position/home switch (found during homing). While homing, the machine home position is found and once the homing is completed, the zero position is offset from the home position by adding the home offset to the home position. The effect of setting the home position to a non-zero value depends on the selected homing method. The value of this object is given in microsteps. Negative values indicate the opposite direction. Zero position Home switch Home offset Figure 7.7: Home offset definition OBJECT DESCRIPTION Index Name Object Code Data Type 607C h (motor 0) 687C h (motor 1) 707C h (motor 2) Home offset Variable SIGNED32 ENTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value 00 h rw Refer to CiA402-3 SIGNED32 -2147483647… +2147483647 7.3.5.2 Object 6098 h, 6898 h, and 7098 h: Homing method The homing method to be used in homing mode can be selected here. Homing methods supported by the current firmware are: VALUE DEFINITION Value Definition 0 No homing. This is the default value, but there is actually no homing method 0. 3 Search the positive edge of the home switch, than search the next encoder index pulse. 5 Search the negative edge of the home switch, than search the next encoder index pulse. 19 Search the positive edge of the home switch. 21 Search the negative edge of the home switch. 33 Search next index pulse in negative direction. 34 Search next index pulse in positive direction. 35 The actual position is used as the home position. All position values (objects 6062 h , 6063 h , and 6064 h ) are set to zero, but the motor will not move. Other homing methods are not supported by the current firmware, but will be added in later firmware releases. OBJECT DESCRIPTION Index Name Object Code Data Type 6098 h (motor 0) 6898 h (motor 1) 7098 h (motor 2) Homing method Variable SIGNED8 ENTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value 00 h rw Refer to CiA402-3 0, 3, 5, 19, 21, 33, 34, 35 0 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-341/342/343/351 CANopen Firmware Manual (V1.04 / 2011-AUG-01) 61 7.3.5.3 Object 6099 h, 6899 h, and 7099 h: Homing speeds This object indicates the configured speeds used during homing procedure. The values are given in units, which can be selected with object 208C h , described in paragraph 8.1.17. Using object 6099 h a fast and a slow homing speed can be set. In most homing modes, the home switch is searched with the fast speed first. When the home switch has been found, the motor will be decelerated to the slow speed (using the homing acceleration, object 609A h ) and then stopped at the exact switch point. OBJECT DESCRIPTION Index Name Object Code Data Type 6099 h (motor 0) 6899 h (motor 1) 7099 h (motor 2) Homing speeds ARRAY UNSIGNED32 ENTRY DESCRIPTION Sub-Index Description Access PDO Mapping Value Range Default Value 01 h Fast homing speed rw Refer to CiA402-3 UNSIGNED32 Depends on the unit setting 02 h Slow homing speed rw Refer to CiA402-3 UNSIGNED32 Depends on the unit setting 7.3.5.4 Object 609A h, 689A h, and 709A h: Homing acceleration This object indicates the configured acceleration and deceleration to be used during homing operation. The values for accelerating to the fast homing speed and for decelerating to the slow homing speed can be set here. The values are given in units, which can be selected with object 208E h , described in paragraph 8.1.18. OBJECT DESCRIPTION Index Name Object Code Data Type 609A h (motor 0) 689A h (motor 1) 709A h (motor 2) Homing acceleration Variable UNSIGNED32 ENTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range 00 h rw Refer to CiA402-3 UNSIGNED32 7.3.6 How to start a homing in hm mode Here is a little example that shows how to home the motor in hm mode. In this little example we assume that the module has been reset (and then switched to start) by NMT commands before. The home switch must be connected to the home switch input. It can be operated manually. Select hm mode by writing 6 to object 6060 h . Write 6 to object 6040 h to switch to READY_TO_SWITCH_ON state. Write 7 to object 6040 h to switch to SWITCHED_ON state. Write 15 to object 6040 h to switch to OPERATION_ENABLED state. Select homing method 19 by writing 19 to object 6098 h . Set the homing speeds by writing e.g. 50000 to object 6099 h sub index 1 and e.g. 10000 to object 6099 h sub index 2. Write 31 to object 6040 h to start the homing process. Press and release the home switch. When homing has finished, write 15 to object 6040 h again. Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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TMCM-351 CANopen Firmware Manual - Trinamic

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