Drive User Guide
40
V.
The host uses the above homing steps to start homing procedures.
VI.
When the host reads the Bit10 and Bit12 of StatusWord(0x6041) being set to 1, this indicates that
the homing of drive has been completed. The host sets up the Bit0 of EtherCAT input function
object (0x2020) to 1, and thus informs drive to trigger the accuracy compensation function. If the
Bit0 is set up to 0, the accuracy compensation function will not be enabled.
VII.
When the host reads the Bit10, Bit12 and Bit15 of StatusWord(0x6041) being set to 1, this indicates
that the accuracy compensation function has been enabled and the feedback position of motor has
been cleared to 0.
VIII.
Before the host switches the operational mode back to the position control mode (profile position
mode or cyclic synchronization position mode), it shall re-assign the command position to be the
feedback position of motor from drive. This can prevent from occurring mistake since the host
detects a too large position error between the command position and the feedback position of
motor after switching back to the position control mode.
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