User Manual

PD42-1140 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2018-DEC-01
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Object Description
Index Name Object Type Data Type
609A
h
Homing acceleration Variable UNSIGNED32
Table 292: Object Description (609A
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no UNSIGNED32 0
Table 293: Entry Description (609A
h
)
9.3 How to start a Homing in hm Mode
Here is a little example that shows how to home the motor in hm mode. In this little example we assume
that the module has been reset (and then switched to pre-operational or operational) by NMT commands
before. The home switch must be connected to the home switch input. It can be operated manually.
• Select hm mode by writing 6 to object 6060
h
.
• Write 6 to object 6040
h
to switch to READY_TO_SWITCH_ON state.
• Write 7 to object 6040
h
to switch to SWITCHED_ON state.
• Write 15 to object 6040
h
to switch to OPERATION_ENABLED state.
• Select homing method 19 by writing 19 to object 6098
h
.
• Set the homing speeds by writing e.g. 50000 to object 6099
h
sub index 1 and e.g. 10000 to object
6099
h
sub index 2.
• Write 31 to object 6040
h
to start the homing process.
• Press and release the home switch.
• When homing has finished, write 15 to object 6040
h
again.
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