3.1.8.2.3.3.2 Homing method
You can select the desired homing method in object 0x6098: Homing Method.
Mode Description
0 No homing method assigned (Default)
1 Homing on negative home switch and index pulse
2 Homing on positive home switch and index pulse
3,4 Homing on positive home switch and index pulse
5,6 Homing on negative home switch and index pulse
7 to 14 Homing on the home switch with an index pulse
17, 18 Similar to method 1 & 2 but without index pulse. Homing is done at
switch transition
19 to 22 Similar to methods 3 to 6, but without index pulse. Homing is done at
switch transition
23 to 30 Similar to method 7 to 14 but without index pulse. Homing is done at
switch transition
33 Homing on negative index pulse
34 Homing on positive index pulse
35 Homing on current position. (identical with method 37)
37 Homing on current position. (identical with method 37)
3.1.8.2.3.3.3 Homing speeds
Two homing speeds must be selected in object 0x6099: Homing Speed: in a typical cycle, the faster speed is
used to find the home switch and the slower speed is used to find the index pulse.
Note
Homing speeds are not required in method 35/37.
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