Fastech Ezi-SERVOII EtherCAT TO, User Manual

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4. CiA402 Drive Profile
4.6 Homing Mode
4.6.1 Definition
Homing Mode is the way of heading to origin with command of Control word (6040h). To use Homing
Mode, need to set Homing Mode at Mode of operation (6060h). Able to use origin search command
once Mode of operation display (6061h) indicates Homing Mode.
4.6.2 Relative Objects
Figure 4.9: Homing Mode Objects
There are 4 kinds (Origin Switch, Positive Limit Switch, Negative Limit Switch, Index pulse of Encoder)
switches to find out origin. And it can be differentiated by Homing method (6098h).
If it is not Homing method by Limit Switch, once Limit Switch goes ON during origin searching, it will move
to opposite direction against movement direction. During motion towards opposite direction, if opposite
side of Limit Switch goes ON, origin search goes failure.
If Sensor origin and mechanical origin is different, able to set with using Home offset (607Ch). Once
position of mechanical origin is set to Home Offset, Status word - bit 12: Home Attained is going to be
ON and position objects will be initialized.
When Limit Switch is ON during Homing operation, it stops to change the direction. How to stop after
detection of Limit Switch follows Object 2003h: Limit stop method setting.
4.6.3 Control word and Status word
Control word
Control word at Homing Mode are as follows.
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
- - - - - - - Halt
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Fault Reset - - Homing
Operation
Start Enable Op-
eration Quick Stop Enable Volt-
age Switch On
Table 4.19: Control word under Homing Mode
The functions of bits added in Homing Mode are as follows.
Rev.37
FASTECH Co., Ltd.
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