Chapter 15 CANopen Overview C2000
15-16
NOTE01: Read 2061-05 to get the current position.
NOTE02: Read bit0 of 2061 to find if the position has reached to the target position. (0: Not reached,
1: Reached).
Home Mode
1. Set Pr. 00-12 to choose the method to return home.
2. Set the left and right limits correspond to the position of MI terminal.
3. Switch to home mode: set Index 6060 = 6.
4. Set 2060-01 = 0080h, then the motor drive starts excitation.
5. Set the ACK signal: set 2060-01 = 0081h, then the motor drive starts to go back home.
NOTE 01: Read bit12 of 6041 to find if returning home is completed. (0: Not reached, 1: Reached).
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