User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 45
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METHOD 3: HOMING ON POSITIVE HOME SWITCH AND INDEX PULSE
Using this method, the initial direction of movement shall be dependent on the state of the home switch.
The home position shall be at the index pulse to either to the left or the right of the point where the
home switch changes state. If the initial position is situated so that the direction of movement shall
reverse during homing, the point at which the reversal takes place is anywhere after a change of state of
the home switch.
Index pulse
Home switch
3
3
Figure 4.8 Homing on positive home switch and index pulse
METHOD 5: HOMING ON NEGATIVE HOME SWITCH AND INDEX PULSE
Using this method, the initial direction of movement shall be dependent on the state of the home switch.
The home position shall be at the index pulse to either to the left or the right of the point where the
home switch changes state. If the initial position is situated so that the direction of movement shall
reverse during homing, the point at which the reversal takes place is anywhere after a change of state of
the home switch.
Index pulse
Home switch
5
5
Figure 4.9 Homing on negative home switch and index pulse