User Manual

TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04
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8.1 Homing Methods
The TMCC160 supports a subset of different standard CANopen homing methods. The homing method
that is to be used can be choosen via object 6098
h
(section 8.2.5).
Supported Homing Methods
Method Description
0 No homing (default value for object 6098
h
).
17 Search the left end switch.
18 Search the right end switch.
35 The actual position is used as home position. All position values (objects 6062h, 6063h,
and 6064h) are set to zero, but the motor will not move.
Table 133: Supported CANopen Homing Methods
When using homing methods that need end switch inputs or home switch inputs please take care of their
configuration (object 2005
h
).
8.1.1 Homing Method 17 and 18: Homing without Index Pulse
These methods are similar to methods 1 to 5 except that the home position is not dependent on the index
pulse but only dependent on the relevant home or limit switch transitions.
Homing Methods 17. . . 21
Method Description
17 Search the left end switch. (Similar to method 1)
18 Search the right end switch. (Similar to method 2)
Table 134: Homing Methods 17 – 21
8.1.2 Homing Method 35: Current Position as Home Position
In this method, the current position shall be taken to be the home position. This method does not require
the drive device to be in operation enabled state.
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