User`s manual

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual
C27750-001 PAGE 7-59
CONTROL WORD
1. The control word is implemented as specified in the DS402 standard, with the following mode specific bits
Figure 7.29 Homing mode Control Word
STATUS WORD
1. The status word is implemented as specified in the DS402 standard, with the following mode specific bits
Figure 7.30 Homing Mode Status Word
2. The following events set the Homing Error Bit in the Status Word.
• Interrupt Homing using control word, (Halt Bit, or Homing Start Bit 1->0).
• Limit Switches are active at start of move.
• Digital Inputs required for method have not been configured.
• If index pulse is within home error window revs (default 45 degrees) of switch position.
• If the speed is too fast when searching for the zero position.
• If invalid entry in homing state table (i.e. Internal Software Error executing NULL).
The Home Error State (0x2859/2) parameter can be used to determine which state the state machine is
in when the error occurs, and thus determine the cause of the error, as outlined in the following table.