CANopen DSP 402 Implementation Guide
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9.4.6Methods 15 and 16: Reserved
These methods are reserved for future expansion of the homing mode.
9.4.7Methods 17 to 30: Homing without an index pulse
These methods are similar to methods 1 to 14, except that the home position is not dependent on the index pulse; it is dependent only on the relevant home or limit switch transitions. For example, methods 19 and 20 are similar to methods 3 and 4, as shown in the following diagram:
Figure 9-7: Homing on the positive home switch
9.4.8Methods 31 and 32: Reserved
These methods are reserved for future expansion of the homing mode.
9.4.9Methods 33 and 34: Homing on the index pulse
Using methods 33 or 34, the direction of homing is negative or positive, respectively. The home position is at the index pulse found in the selected direction.
Figure 9-8: Homing on the positive home switch
9.4.10Method 35: Homing on the current position
In this method, the current position is taken to be the home position.
