User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 44
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4.3.2 Homing Methods
There are several different methods of homing. For choosing your homing method, refer to object 6098
h
please.
OVERVIEW: HOMING METHODS
Method no.
Description
0
No homing. This is the default setting.
1
Search the left end switch, than search the next encoder index pulse.
2
Search the right end switch, than search the next encoder index pulse.
3
Search the positive edge of the home switch, than search the next encoder index pulse.
5
Search the negative edge of the home switch, than search the next encoder index pulse.
17
Search the left end switch.
18
Search the right end switch.
19
Search the positive edge of the home switch.
21
Search the negative edge of the home switch.
33
Search next index pulse in negative direction.
34
Search next index pulse in positive direction.
35
The actual position is used as home position. All position values (objects 6062
h
, 6063
h
, and 6064
h
) are set to
zero, but the motor will not move.
METHOD 1: HOMING ON NEGATIVE LIMIT SWITCH AND INDEX PULSE
Using this method, the initial direction of movement shall be leftward if the negative limit switch is inactive
(here: low). The home position shall be at the first index pulse to the right of the position where the
negative limit switch becomes inactive.
1
Index pulse
Negative limit switch
Figure 4.6 Homing on negative switch and index pulse
METHOD 2: HOMING ON POSITIVE LIMIT SWITCH AND INDEX PULSE
Using this method, the initial direction of movement shall be rightward if the positive limit switch is
inactive (here: low). The position of home shall be at the first index pulse to the left of the position where
the positive limit switch becomes inactive.
2
Index pulse
Positive limit switch
Figure 4.7 Homing on positive limit switch and index pulse