User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 46
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METHOD 17, 18, 19, AND 21: 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. Method 19 (similar to method
3) is shown in Figure 4.10.
Method no.
Description
17
Search the left end switch. (Similar to method 1)
18
Search the right end switch. (Similar to method 2)
19
Search the positive edge of the home switch. (Similar to method 3)
21
Search the negative edge of the home switch. (Similar to method 5.)
Home switch
19
19
Figure 4.10 Homing without index pulse
METHOD 33 AND 34: HOMING ON NEXT INDEX PULSE
Using these methods, the direction of homing is negative or positive respectively. The home position shall
be at the index pulse found in the selected direction as shown in Figure 4.11.
Index pulse
33
34
Figure 4.11 Homing on index pulse
METHOD 35: HOMING ON INDEX PULSE / 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 operational enabled state.