ECT Series User Manual
48
2.4.6.17 Method 36 & 37
The homing modes 36 and 37 are torque homing modes, which do not require external limit
signals, and rely on detecting the internal torque output of the motor to determine whether the
mechanical hard limit has been reached. The relevant homing parameters are as follows:
2030: 01, define the maximum torque output during the torque homing process, which is the
percentage of the 0x2000 setting current.
2030: 02, define the torque to determine whether the motor is in the mechanical limit during the
torque homing process, which is the percentage of the 0x2000 setting current.
2030: 03, define whether the motor is at the speed limit of the mechanical limit during the torque
homing process.
2030: 04, define the holding time of whether the motor is at the mechanical limit during the
torque homing process.
2030: 05, define the proportional gain of the speed loop during the torque homing process.
2030: 06, define the integral gain of the speed loop during the torque homing process.
The relevant definitions are as follows:
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