Elmo DSP 402 manual Name

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

54

Name	Value	Description
Homing	0	Homing mode inactive.
operation start	0→1	Start homing mode.
	1	Homing mode active.
	1→0	Interrupt homing mode.
Halt	0	Execute the instruction of bit 4.
	1	Stop axle with homing deceleration.

Notes:

If homing is interrupted by setting bit 4 from “1” to “0”, the movement of the motor is not interrupted; that is, the motor remains in its present state, either moving or not. The home sequence is interrupted and the home target is not attained. By setting the bit back to “1”, the homing mode begins again.

If a Halt occurs, the drive stops the homing method and halts the motor according to object 609Ah. When this bit is set to “0” and bit 4 remains “1”, the home method begins again.

Statusword of Homing Mode

Bit	Function
0…9	Described in Device Control
10	Target reached
11	Described in Device Control
12	Homing attained
13	Homing error
14…15	Described in Device Control

Name	Value	Description
Target reached	0	Halt = 0: Homing position not reached
		Halt = 1: Axle decelerates
	1	Halt = 0: Homing position reached
		Halt = 1: Velocity of axle is 0
Homing attained	0	Homing mode not yet completed.
	1	Homing mode carried out successfully.
Homing error	0	No homing error.
	1	Homing error occurred.
		Homing mode carried out unsuccessfully.
		Error cause found in error code.

During the homing process, no reference position limits are active. If no physical limit exists — such as the limit switch — the load may travel indefinitely.