Chapter 15 CANopen Overview C2000 Plus
15-14
Home mode
1. Set 6098 = 1–35 to choose a home method.
2. Set the left and right limits correspond to the position of MI terminal.
3. Switch to Home mode: set Index 6060 = 6.
4. Switch to Operation Enable mode: set 6040 = 0xE, and then set 6040 = 0xF.
5. To trigger an ACK signal: set 6040 = 0x0F, and then set 6040 = 0x1F (Pulse On, and the motor
drive will be back to home.)
NOTE: Read bit12 of 6041 to find if the home mode is completed. (0: Not reached, 1: reached)
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