User Manual

TMCM-1276 CANopen
®
Firmware Manual Firmware Version V3.22 | Document Revision V1.00 2018-JUN-28
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Object Description
Index Name Object Type Data Type
609A
h
Homing acceleration Variable UNSIGNED32
Table 292: Object Description (609A
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no UNSIGNED32 0
Table 293: Entry Description (609A
h
)
8.2.8 Object 2100
h
: Home Oset Display
This object shows the home oset. The value is given in microsteps.
Object Description
Index Name Object Type Data Type
2100
h
Home Oset Display Variable SIGNED32
Table 294: Object Description (2100
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro no -2147483648. . . 2147483647 0
Table 295: Entry Description (2100
h
)
8.3 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 pre-operational or operational) 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.
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