Kinco CD420, User Manual

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3, Configuration of the data for homing
Here are simple descriptions of the data for executing homing.
CD has 27
methods for homing, referring the CANopen’s definition of DSP402.
1st-14th methods use Z signal as homing signal.
17th-30th methods use external signal as homing signal.
Method 1: Homing on the negative limit switch and index pulse
Using this method, the initial direction of movement is leftward if the negative limit
switch is inactive (here shown as low). The home position is at the first index pulse to the
right of the position where the negative limit switch becomes inactive.
Method 2: Homing on the positive limit switch and index pulse
Using this method, the initial direction of movement is rightward if the positive limit
switch is inactive (here shown as low). The position of home is at the first index pulse to
the left of the position where the positive limit switch becomes inactive.
0x607C0020 Home_Offset Home offset In Homing mode, set the offset relative to
the zero point.
0x60980008 Homing_Method Homing method Select the homing method
0x60990120 Homing_Speed_Switch Speed for searching
the limit switch
Set the speed for searching the limit
switch which defined as homing signal.
0x60990220 Homing_Speed_Zero Speed for searching
the Zero point.
Only valid when find Index signal.
0x60990308 Homing_Power_On Homing when power
on
Every time after power on,it will start
homing once.
0x609A0020 Homing_Accelaration Homing acceleration Control the acceleration of homing