3, Configuration of the data for homing
Here are simple descriptions of the data for executing homing.
CD has 27 methods for homing, referring the CANopen’s definition of DSP402.
1st-14th methods use Z signal as homing signal.
17th-30th methods use external signal as homing signal.
Method 1: Homing on the negative limit switch and index pulse
Using this method, the initial direction of movement is leftward if the negative limit
switch is inactive (here shown as low). The home position is at the first index pulse to the
right of the position where the negative limit switch becomes inactive.
Method 2: Homing on the positive limit switch and index pulse
Using this method, the initial direction of movement is rightward if the positive limit
switch is inactive (here shown as low). The position of home is at the first index pulse to
the left of the position where the positive limit switch becomes inactive.
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