User`s manual

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402
PAGE 7-62 C27750-001
15. The operation of the homing method requires on certain positions being reached (e.g. switch and index
pulse locations). This requires that there be some integral term in the position control loop, to pull the
position error to zero.
SAMPLE SETUP
The following section gives an example of a typical setup for a homing cycle.
Index/Sub Index Name Value Comment
0x2C2E/4 digital input config. [2] 7 Set-up Negative Limit Switch
0x6060 ds402 mode of operation 6 Set-up for Homing Mode
0x6098 homing method -1 Set-up Homing Method
0x6099/1 homing speed switch 1000 Set Switch Speed=1000 rpm
0x6099/2 homing speed zero 60 Set Zero Speed=60rpm
0x609A homing acceleration 100 Set homing acceleration=100 rev/sec
2
0x2857/2 home position Read home position initially=0
0x6041 ds402 status word Read Status=0x270
0x6040 ds402 control word 0x06 Shutdown command
0x6040 ds402 control word 0x1F Start the homing cycle
Hit the negative limit switch, drive will search and stop at zero position.
0x6510/10 position resolver Read dsprespos=0
0x2857/2 home position Read home position (e.g. = -3145709)
0x6041 ds402 status word Read Status=0x1687
0x6064 ds402 position actual Read actual position=0.
Table 7.24 Sample set-up for homing mode