User Manual
CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 49
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4.3.3.4 Object 607C
h
: Home Offset
This object indicates the configured difference between the zero position for the application and the
machine home position/home switch (found during homing). While homing, the machine home position
is found and once the homing is completed, the zero position is offset from the home position by
adding the home offset to the home position. The effect of setting the home position to a non-zero
value depends on the selected homing method. The value of this object is given in microsteps. Negative
values indicate the opposite direction.
Home offset
Zero position Home switch
Figure 4.12 Home offset definition
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
607C
h
Home offset
Variable
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
Refer to CiA402-3
SIGNED32
-2147483647… +2147483647
4.3.3.5 Object 6098
h
: Homing Method
The homing method to be used in homing mode can be selected here. The actual firmware supports the
following homing methods.
VALUE DEFINITION
Value
Definition
0
No homing. This is the default value, but there is actually no homing method 0.
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 the home position. All position values (objects 6062
h
, 6063
h
, and 6064
h
) are set
to zero, but the motor will not move.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6098
h
Homing method
Variable
SIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
Refer to CiA402-3
0, 3, 5, 19, 21, 33, 34, 35
0