User Manual

TMCM-1276 CANopen

Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28

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Index pulse

Home switch

Figure 13: Homing Method 5

8.1.5 Homing 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. As an example, homing method

19 (which is similar to homing method 3) is shown in ﬁgure 14.

Homing Methods 17. . . 21

Method 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.)

Table 272: Homing Methods 17 – 21

Home switch

Figure 14: Homing Method 19

8.1.6 Homing 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 4.10.

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