Applied-motion ST10-C-CE Manual do Utilizador descarregar pdf (Página 68)

920-0025 Rev K

3/5/2015

CANopen User Manual

Appendix F - Homing Methods

Set Running Parameters

Set the homing and index velocities, acceleration/deceleration, offset and home sensor (if

required) using OD entries 6099

, 609A

, 607C

, and 7001

respectively.

Note: It is important that the limit switch settings have been dened in ST Congurator or

Quick Tuner prior to using the CANopen Homing Mode.

Enable Homing Mode

To enable Homing Mode, the value 0006

must be written to the mode of operation OD entry,

located at dictionary address 6060

. The mode of operation can be veried using OD 6061

- mode

of operation display - which is updated when the current operation mode is accepted.

After power up or node reset, the drive is in disabled state. The value 0006

must be written

to the control word OD entry, located at dictionary address 6040

. This will put the drive into “ready

to switch on” state and is ready to enable drive operation. If the value 0006

is not written to the

control word rst, the drive operation can not be enabled.

To put the drive into Operation Enabled Mode, write 000F

to the controlword OD entry,

located at dictionary address 6040

Starting the Homing Procedure

Set the Homing Method required using OD entry 6098

. To start the homing procedure, bit 4

of the controlword OD entry located at dictionary address 6040

, must transition from 0 to 1. The

status of the homing procedure can be monitored using the statusword OD entry 6041

Homing Method Diagrams

Homing Method 1

Homes to the rst index CCW after the CW limit switch is reached.

1 2 ... 63 64 65 66 67 68 69 70 71 72 73 ... 100 101

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Applied-motion ST10-C-CE Manual do Utilizador Página 68