Elmo DSP 402 manual 9.1General Information, 607Ch Home offset 6098h Homing method

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

53

9: Homing

607Ch: Home offset

6098h: Homing method

6099h: Homing speeds

609Ah: Homing acceleration

9.1General Information

This chapter describes the method by which a drive seeks the home position (also called the datum, reference point or zero point). Homing can be performed using limit switches at the ends of travel or a home switch (zero point switch) in mid-travel; most of the methods also use the index (zero) pulse train from an incremental encoder.

Input Data

The user can specify the speeds, acceleration and method of homing. An additional object, home offset, is used to displace zero in the user’s coordinate system from the home position. There are two homing speeds: in a typical cycle the faster speed is used to find the home switch and the slower speed is used to find the index pulse.

Output Data

There is no output data except for those bits in the statusword that return the status or result of the homing process and the demand to the position control loops.

Internal States

The homing mode is controlled by the bits of the controlword and statusword.

Homing Mode Controlword

Bit	Function
0…3	Described in Device Control
4	Home operation start
5..6	Reserved
7	Described in Device Control
8	Halt
9..12	Described in Device Control
13..15	Described in Device Control