Megmeet M5-N Series User Manual

Chapter 7 EtherCAT Communication
72
RPDO object
TPDO object
Note
Control word 6040h
Status word 6041h
Required
Homing method 6098h
Optional, you can configure it as an SDO
parameter.
Homing offset 607Ch
Optional, you can configure it as an SDO
parameter.
Homing speed 6099-01h
Optional, you can configure it as an SDO
parameter.
Homing speed 6099-02h
Optional, you can configure it as an SDO
parameter.
Other object
Optional, you can configure it as an SDO
parameter.
7.4.4.5
Homing Mode
To support more applications, the M5-N series servo system supports CANopen CiA402 Homing Mode 1-35.
 0x6098 = 1
Reverse, negative limit switch as deceleration point and Z signal as home
The current position of the motor is where the negative limit switch is invalid. When the homing is started, the
negative limit switch is at a low level, and reverse high-speed returns to home. After encountering the rising edge
of the negative limit switch, it runs at a high-speed in the forward direction, after encountering the falling edge of
the negative limit switch, it will run forward at low speed, and stop when encountering the rising edge of the Z
signal.
The current position of the motor is at the positive limit switch. When the homing is started, the negative limit
switch is at a high level, and forward high-speed returns to home. After encountering the falling edge of the
negative limit switch, it runs at a low speed in the forward direction, and stop when encountering the rising edge
of the Z signal.

Megmeet M5-N Series Specifications

General

Brand	Megmeet
Model	M5-N Series
Category	Servo Drives
Language	English