User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 51
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4.3.4 How to Start a Homing in hm Mode
Here is a little example that shows how to home the motor in hm mode. In this little example we assume
that the module has been reset (and then switched to start) by NMT commands before. The home switch
must be connected to the home switch input. It can be operated manually.
- Select hm mode by writing 6 to object 6060
h
.
- Write 6 to object 6040
h
to switch to READY_TO_SWITCH_ON state.
- Write 7 to object 6040
h
to switch to SWITCHED_ON state.
- Write 15 to object 6040
h
to switch to OPERATION_ENABLED state.
- Select homing method 19 by writing 19 to object 6098
h
.
- Set the homing speeds by writing e.g. 50000 to object 6099
h
sub index 1 and e.g. 10000 to object
6099
h
sub index 2.
- Write 31 to object 6040
h
to start the homing process.
- Press and release the home switch.
- When homing has finished, write 15 to object 6040
h
again.