Chapter 15 CANopen Overview C2000 Plus
15-19
Home Mode
1. Set 6098 = 1–35 to choose a home method.
2. 2. Set the left and right limits correspond to the position of MI terminal.
3. 3. Switch to home mode: set Index 6060 = 6.
4. 4. Set 2060-01 = 0080h, then the motor drive starts excitation.
5. 5. Set the ACK signal: set 2060-01 = 0081h, then the motor drive starts to go back home.
NOTE: Read bit12 of 6041 to find if returning home is completed. (0: Not reached, 1: Reached).
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