TMCM-351 CANopen Firmware Manual - Trinamic

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