E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary
HIWIN MIKROSYSTEM Corp. 3-33
Example of successful homing procedure
[1] Set 6098h (homing method) to the required homing method. Homing methods supported by E1-series
CoE drive are given in Table 3.2.4.4.
[2] Accordingly set homing parameters, 609Ah (homing acceleration), 6099:01h (speed during search
for switch), 6099:02h (speed during search for zero) and 607Ch (home offset).
[3] Set bit 4 of 6040h (controlword) from 0 to 1. Then, the homing procedure starts.
[4] When the homing procedure is successfully completed, the drive sets bit 10 and bit 12 of 6041h
(statusword) to 1.
Figure 3.2.4.2
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