3.1.8.2.3 Homing modes
3.1.8.2.3.1 Overview
Axes without an absolute encoder can use the homing function to restore the position to a previously defined
location.
3.1.8.2.3.2 Homing methods
SOMANET supports the following methods as defined in CiA 402 profile specification (IEC61800-7-201:2015):
1 - Homing on a negative limit switch and index pulse
2 - Homing on a positive limit switch and index pulse
3 - Homing on a positive home switch inactive and index pulse
4 - Homing on a positive home switch active and index pulse
5 - Homing on a negative home switch inactive and index pulse
6 - Homing on a negative home switch active and index pulse
7 - Homing on a home switch (inactive) and index pulse with positive initial direction. Reverse if positive limit
switch is hit.
8 - Homing on a home switch (active) and index pulse with positive initial direction. Reverse if positive limit
switch is hit.
9 - Homing on an opposite home switch (active) and index pulse with positive initial direction. Reverse if
positive limit switch is hit.
10 - Homing on an opposite home switch (inactive) and index pulse with positive initial direction. Reverse if
positive limit switch is hit.
11 - Homing on a home switch (inactive) and index pulse with negative initial direction. Reverse if negative
limit switch is hit.
12 - Homing on a home switch (active) and index pulse with negative initial direction. Reverse if negative
limit switch is hit.
13 - Homing on an opposite home switch (active) and index pulse with negative initial direction. Reverse if
negative limit switch is hit.
14 - Homing on an opposite home switch (inactive) and index pulse with negative initial direction. Reverse if
negative limit switch is hit.
33 - Homing on an index pulse with negative initial direction.
34 - Homing on an index pulse with positive initial direction.
35/37 (identical) - Homing on the current position.
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