Delta ASDA A2-E

Chapter 5 CANopen Operation Mode ASDA A2-E
5-8 Revision April, 2015
5.4 Homing Mode
5.4.1 Description
This mode could help the drive to find the home position. Users can specify the speed,
acceleration and method of homing.
5.4.2 Operation Procedures
1. Set【Mode of operations:6060h】to the homing mode(0x06).
2. Set【Home offset:607Ch】.
3. Set【Homing method:6098h】. The method range is 1 to 35. (Refer to OD-6098h
definition which shows below.)
4. Set【Homing speeds:6099h Sub-1】in order to set speed search for switching. (unit:
rpm)
5. Set【Homing speeds:6099h Sub-2】in order to set speed during the search for zero.
(unit: rpm)
6. Set【Homing acceleration:609Ah】for homing acceleration. (unit: millisecond from
0rpm to 3000rpm)
7. Set【Controlword:6040h】to (0x06  0x07  0x0F) to Servo ON the drive and
enable the motor.
8. Set【Controlword:6040h】to (0x0F  0x1F) to find Home Switch and do homing.
9. Read【Statusword:6041h】to obtain the drive status.