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EM3E Series EtherCAT Stepper Drive User Manual

3.3.5 CN4-EtherCAT Communication Connector

Name

Pic

Signal

Description

CN4

1, 9

E_TX+

EtherCAT TxD+

2, 10

E_TX-

EtherCAT TxD-

3, 11

E_RX+

EtherCAT RxD+

4, 12

5, 13

6, 14

E_RX-

EtherCAT RxD-

7,15

8,16

Cover

Shield earthing

Note

(1) LED1 as’Link/Activity IN’ indicator,green
(2) LED3 as’Link/Activity OUT’ indicator,green
(3) LED2 as’RUN’ indicator,green
(4) LED4 as’ERR’ indicator,red

Table 3.3 Link/Activity LED status

Name

Color

Status

Description

RUN

Green

off

Initialization Status

Blinking

Pre-operation status

Single Flash

Safe operating status

Operation Status

ERR

Red

Refer to Chapter 5.2

L/A IN

Green

off

Physical layer link cannot be established

Physical layer link establishment

Blinking

Interaction data

L/A OUT

Green

off

Physical layer link cannot be established

Physical layer link establishment

Blinking

Interaction data

Summary of Contents for EM3E Series

Page 1: ...ive For models of EM3E 522E EM3E 556E and EM3E 870E 2020 Leadshine Technology Co Ltd Address Floor 11 Block A3 Nanshan iPark Xueyuan Avenue 1001 Shenzhen Guangdong 518055 China Tel 86 755 26409254 Fax 86 755 26402718 Web www leadshine com Sales sales leadshine com Support tech leadshine com ...

Page 2: ...stered trademark and patented technology licensed by Beckhoff Automation GmbH Germany Thanks for purchasing Leadshine EM3E Series Products Please read this manual carefully before using product Please keep this manual EM3E Passed the ETC Laboratory Conformance Tested ...

Page 3: ...EM3E Series EtherCAT Stepper Drive User Manual Record of Revisions Reversion Data Description of Release Signed V1 0 11 02 2017 Initial Release Max V1 2 06 01 2020 Add debug port change ESI file Max ...

Page 4: ...anual is about hardware function description parameter configuration etc Please be sure to read carefully after understanding the contents refer to this specification EM3E Series EtherCAT Stepper Drive Tuning Software Manual The tuning software is Leadshine MotionStudio Please Pay Attention to The Following Reminders Only the technical personnel to install debug or maintain the product To ensure c...

Page 5: ...ing Specifications 12 3 1 1 EtherCAT Specifications 12 3 1 2 Electrical and Operating Specifications 12 3 2 Cable Specifications 13 3 2 1 Power Supply Cable Motor Cable 13 3 2 2 I O Signal Cable 13 3 2 3 EtherCAT Communication Cable 14 3 3 Connectors Specifications 15 3 3 1 Connectors Definition 15 3 3 2 CN1 Input Power Connector 16 3 3 3 CN2 Motor Connector 16 3 3 4 CN3 I O Signals Connector 16 3...

Page 6: ... 3 4 Main Control Output Function 29 4 4 Motion Objects 29 4 5 XML File or ESI File 33 5 Error Code Trouble Shooting 34 5 1 Error Code 34 5 2 Alarm LED 35 5 3 Alarm Clearing 36 6 Common Functions 37 6 1 Saving Parameters and Resetting Drive 37 6 2 Control Word and Operation Modes 37 6 3 Touch Probe 42 Appendix A Homing Methods 44 Appendix B Object Dictionaries 48 Appendix C Connectors 57 Appendix ...

Page 7: ...des Profile Position Profile Velocity Cyclic Synchronous Position Homing 6 configurable digital inputs 2 optically isolated digital outputs Low noise and vibration smooth motion Supply voltage 20 50VDC Max output current 2 2A 5 6A or 7 0A Micro USB port for parameters configuration Matched with NEMA11 17 23 24 34 CM series stepper motors Protections for over voltage over current limit switch error...

Page 8: ...EM3E Series EtherCAT Stepper Drive User Manual 8 1 3 2 Nameplate information 1 3 3 Part number 1 3 4 Parts description ...

Page 9: ...USB cable CABLE M USB1M5 Network cable Yes can use 3rd party cable Optional length 0 1m 0 2m 0 3m 0 4m 1m 1 5m 2m 3m 5m 7m 10m 15m 20m CABLE TX M BUS Note Micro USB cable is not necessary you can also modify parameters by master station PC software Network cable is necessary but you can also buy shielded network cable through 3rd party ...

Page 10: ...ing from 40 to 90 and non condensed Vibration lower than 0 15mm at a frequency of 10Hz 55Hz CAUTION 2 2 Mechanical Specification Unit mm 1inch 25 4mm Figure 2 1 EM3E 522E 556E 870E Mechanical Drawing 2 3 Installation Direction and Space The mounting of drive wiring and motor should be under the regulations of EN 61800 5 1 Incorrect installation may result in a drive malfunction or premature failur...

Page 11: ...to ensure the drive is well ventilated ensure that the all ventilation holes are not obstructed and sufficient free space is given to the drive and a cooling fan is mounted in the control panel Please ensure grounding wires are securely connected Figure 2 2 EM3E series installation drawing Fan Fan Fan 20mm 20mm 50mm 30mm Air 50mm Air Air ...

Page 12: ...on Supported Protocol CoE CANopen over EtherCAT Synchronization mode DC Synchronization SYNC0 Free Run Communication Event SDO PDO EMCY Application Layer Specifications IEC61800 7 CiA402 Drive Profile Supported Operation Mode Cyclic Synchronous Position Mode CSP Profile Position Mode PP Profile Velocity Mode PV Homing Mode HM Cycle Time 500us 750us 1ms 2ms 3ms 4ms 5ms 3 1 2 Electrical and Operatin...

Page 13: ...t port which connects with master station or previous slave and the other is output port which connects with the following slave Single end input I1 I6 connection types can be common cathode and common anode 3 2 1 Power Supply Cable Motor Cable Wire diameter VDC GND A A B B terminal wire diameter 0 3mm2 AWG15 22 3 2 2 I O Signal Cable Wire diameter I O signal wires diameter 0 12mm2 AWG24 26 Recomm...

Page 14: ...fixed Type B Cable Flexible Cross sectional area AWG 22 1 Single solid root AWG 22 7 7x0 254mm Nominal characteristic impedance tolerance 100Ω 15Ω IEC61156 5 Balanced or Unbalanced Balanced Loop resistance 115Ω Km Insulation resistance 500MΩ Km Transmission impedance 50mΩ m 10MHZ Maximum time delay 550ns 100m Time delay deviation 20ns 100m Shielding S FTQ Outer stranded shield inner layer Temperat...

Page 15: ...Figure 3 2 EM3E series connectors Name Description CN1 Input power connector CN2 Motor connector CN3 I O signals connector CN4 EtherCAT communication connector CN5 Micro USB tuning connector LED The LED for the drive s running status DIP Switches 8 bits switches SW1 SW7 to set 0 127 Node ID SW8 for self test ...

Page 16: ... 24V 10KHz Origin Signal default 4 DI4 I Configurable Single ended Digital Input 4 12V 24V 10KHz Positive Limit default 5 DI1 I Configurable Single ended Digital Input 1 12V 24V 10KHz Touch Probe 1 default 6 DI2 I Configurable Single ended Digital Input 2 12V 24V 10KHz Touch Probe 2 default 7 COMI I Common anode of external input signals 8 COMO O Common ground of digital output signals 9 DO1 O Con...

Page 17: ... OUT indicator green 3 LED2 as RUN indicator green 4 LED4 as ERR indicator red Table 3 3 Link Activity LED status Name Color Status Description RUN Green off Initialization Status Blinking Pre operation status Single Flash Safe operating status on Operation Status ERR Red Refer to Chapter 5 2 L A IN Green off Physical layer link cannot be established on Physical layer link establishment Blinking I...

Page 18: ...lly When 2151h 0 setting via DIP Switches SW1 SW7 Slave ID can be set a value non zero via the SW1 SW7 activated after restarting the power supply The specific definition is as below ID SW1 SW2 SW3 SW4 SW5 SW6 SW7 0 ON ON ON ON ON ON ON 1 OFF ON ON ON ON ON ON 2 ON OFF ON ON ON ON ON 3 OFF OFF ON ON ON ON ON 126 OFF OFF OFF OFF OFF OFF 127 OFF OFF OFF OFF OFF OFF OFF OFF 1 ON 0 ID SW1 1 SW2 2 SW3 ...

Page 19: ...d the EtherCAT stepper drive won t work you need to turn the wiring 3 4 2 Digital Output Wiring Figure 3 5 Output Interface Wiring Note 1 The power supply 12 24VDC above is provided by user and if the polarity of power supply is reversed it will damage the drive 2 Digital output is OC output with the maximum capacity of 100mA 30V recommended 50mA 25V the provided power supply should be under 30V r...

Page 20: ...EM3E Series EtherCAT Stepper Drive User Manual 20 Figure 3 6 Brake output connection ...

Page 21: ... 0 0xFFFFFF FF 0 Need to write 0x65766173 or 1702257011 decimal into sub index It will return 1 if save successfully 02 Save communication parameters R W UDINT 0 0xFFFFFF FF 0 03 Save motion parameters R W UDINT 0 0xFFFFFF FF 0 04 Save factory parameters R W UDINT 0 0xFFFFFF FF 0 1011 00 Number of sub index R UINT 0 32767 4 01 Restore all parameters to default setting R W UDINT 0 0xFFFFFF FF 0 Nee...

Page 22: ...apping object 01 08 3rd RXPDO Map object R W UDINT 0 0xFFFFFF FF Default number of 4th RXPDO Map object 1A00 0 Number of sub index R W UINT 0 32767 7 Default number of 1st mapping object 01 08 1st TXPDO Map object R W UDINT 0 0xFFFFFF FF Default number of 1st TXPDO Map object 1A01 0 Number of sub index R W UINT 0 32767 0 Default number of 2nd mapping object 01 08 2nd TXPDO Map object R W UDINT 0 0...

Page 23: ...ntage of power on R W S UINT 0 100 100 Usually keep the default value 201B 00 Locking duration time R W S UINT 0 1500 200 ms Appropriately reduce this value if you want to shorten the time of locking shaft 201C 00 Max time to close brake R W S UINT 100 10000 1000 ms Usually keep the default value 201D 00 Zero speed point R W S UINT 0 500 10 0 1r s 2047 00 Over voltage point R W S UINT 0 1000 75 V ...

Page 24: ... R W UINT 0 32767 0 04 JOG cycles R W UINT 0 32767 1 05 JOG direction R W UINT 0 32767 0 06 JOG preparation time R W UINT 0 32767 100 ms 3100 01 Control software version R UINT 02 Firmware version R UINT 03 EtherCAT protocol version R UINT 3FFE 01 0 E Alarm record R USINT 0 32767 0x3FFE 01 is the current error code current alarm or the most recent error code currently no alarm 0x3FFE 02 0E are fol...

Page 25: ...it2 0 Send 0xF can t be enabled 5005 00 DC compensation base value R W UINT 0 32767 500 5006 00 Synchronization error detection R W UINT 0 32767 0 5010 00 Effective input and output watchdog time R W UINT 0 32767 0 5011 00 Internal actual location R UDIN T 0 32767 5012 01 Homing arrival position R W DINT 0 32767 0 02 Homing trigger position R W DINT 0 32767 0 03 Homing virtual input R W UDIN T 0 3...

Page 26: ...time Bit0 1 Asynchronous mode the host does not track 0x607A 00in real time 4 3 I O Configuration Object The configuration of input ports includes three parts function setting filter time and polarity setting Therefore the relevant object dictionary value Decimal Input port function setting value Filter time setting value Input port polarity setting value The configuration of output ports includes...

Page 27: ...d to monitor input ports 0x2155 is used to monitor whether the input port is connected to a valid signal 0x60FD is used to monitor whether the input port is configured with a function 0x2155 Corresponding Input Port Table Input port Index Sub index Default Function Value Default Function Physical State Read State1 3 IN1 0x2152 01 1 0x17 Probe1 0x2155 00 1 2 IN2 0x2152 02 0x18 Probe2 0x2155 01 1 IN...

Page 28: ...id then bit0 of 0x60FD will be value 1 2 When input function is set to GPIO at this time different input ports correspond to different bit of 0x60FD 4 3 2 Input Ports Filter Time Polarity Value Filter Time Setting Value Decimal Polarity Setting Value 1ms 0 Normally open NO 0 2ms 256 Normally closed NC 128 3ms 512 4ms 768 5ms 1024 6ms 1280 8ms 1536 10ms 1792 15ms 2048 20ms 2304 30ms 2560 40ms 2816 ...

Page 29: ...ion and polarity is NC 0x2156 01 1 128 129 0x81 4 3 4 Main Control Output Function Main control output is also called general output and User defined output and its usage is as follows Name Index Sub index Polarity Open main control output 60FE 01 Enable main control output 60FE 02 NO NC OUT1 2156 01 0x05 0x85 bit16 0x10000 bit16 0x10000 OUT2 2156 02 0x05 0x85 bit17 0x20000 bit17 0x20000 For examp...

Page 30: ... to stops at a speed value of 0x6085 keep operation enable state 3 After decelerating to stops at a speed value of 0x60C6 keep operation enable state 4 After stopping immediately keep operation enable state 6060 Operation mode R W USI NT 0 255 8 1 PP mode 3 PV mode 6 Home mode 8 CSP mode 6061 Operation mode display R USI NT 0 255 8 6062 Position command R DIN T 214748364 8 214748364 7 0 P P pulse ...

Page 31: ...0 rpm 6081 Max profile velocity R W S DIN T 214748364 8 214748364 7 50000 Max Allowable velocity under PP mode 6082 Start velocity R W S DIN T 214748364 8 214748364 7 0 Start velocity under PP mode 6083 Profile acceleratio n R W S DIN T 214748364 8 214748364 7 4000 P S 2 Acceleration under PP and PV mode 6084 Profile deceleratio n R W S DIN T 214748364 8 214748364 7 4000 P S 2 Deceleration under P...

Page 32: ...positive value R DIN T 214748364 8 214748364 7 0 P Data value sensed by touch probe 2 at rising edge 60BD Touch probe 2 negative value R DIN T 214748364 8 214748364 7 0 P Data value sensed by touch probe 2 at falling edge 60C2 01 Interpolatio n time period value R W USI NT 0 255 2 Only for internal tuning 60C2 02 Interpolatio n time unit R W SINT 128 127 0 60D5 Touch probe 1 rising edge counter R ...

Page 33: ...tion modes the drive supported 4 5 XML File or ESI File EtherCAT Slave Information file XML File or ESI file is needed to connect controller with EtherCAT Master This file is provided by Leadshine described slave device information as XML format based on EtherCAT specifications Please follow the EtherCAT Master software manual for importing method Some master stations require files in a specific f...

Page 34: ...e occurs in motion the acceleration and deceleration time can be increased 0x0a0 0x3150 EEPROM error in phase A 1 Reset parameters to the factory and restart power supply 2 If it still exists the hardware failure 0x0a1 0x3151 EEPROM error in phase B 0x1a0 0x8402 Over speed 1 Reduce command speed value 2 Write 0x10 to the object 0x2056 to clear the alarm 0x240 0x5530 Save error 1 Reset parameters t...

Page 35: ... Invalid process data output mapping 0x827 0x8727 Free running mode is not supported 0x828 0x8728 Does not support synchronous mode 0x82b 0x8210 Invalid input and output 0x82c 0x872C Fatal sync error 0x82d 0x872D No synchronization errors 0x82e 0x872E Synchronization period is too small 0x830 0x8730 Invalid DC synchronization configuration 0x832 0x8732 DC phase locked loop failure 0x833 0x8733 DC ...

Page 36: ...dware error 1 Restart power supply 2 If it still exists the hardware failure When the EM3E has a network communication failure the Alarm LED2 flicker status and the error code in object 0x603F are listed in the following table The part of the network communication failure can be saved and all can be cleared Alarm LED2 alarm indication table ERR flicker Description Error code in 0x603F Savable Trou...

Page 37: ...uctions given by master station in synchronous cycle making it suitable for synchronous motion of multiple axes EM3E synchronous motion mode supports CSP mode In CSP mode master station completes trajectory planning and sends it to EM3E The drive will execution the synchronous cyclic position instructions immediately once they has arrived The EM3E supports following synchronous cycles 250 us 500 u...

Page 38: ... 01 Fast Homing Velocity U32 RW P S Can Can 6099 02 Slow Homing Velocity U32 RW P S Can Can 609A 00 Homing Acceleration U32 RW P S2 Can Can 607C 00 Homing Offset U32 RW P Can Can PP PV and HOME Mode General 6041 00 Status Word U16 RO Recomme nd Can 6064 00 Actual Position I32 RO P Recomme nd Can 606C 00 Actual Velocity I32 RO P S Can Can All operation modes General 60B8 00 Touch Probe Control Word...

Page 39: ...nding on operation mode to send related control instructions of bit4 6 and bit8 The state transition that triggers the running control in each control mode is shown in Table 6 5 Table 6 3A Control Word 6040h Bit Definition Mode Bit 15 9 8 6 5 4 General Pause Depending on the operation mode CSP mode 8 Invalid Invalid Invalid Invalid PP mode 1 Deceleration stop Absolute Relative Immediate trigger Ne...

Page 40: ...rgen cy stop PV mode 3 Invalid Paramete r has 0 Invalid Speed is 0 Velocit y arrival Quick stop HM mode 6 Trigger response Paramete r has 0 Origin error Origin completio n Position arrival Emergen cy stop Additional information on other bits When the drive is put into power the bit 4 will be set Bit 5 quickly stops activation which is valid under logic 0 contrary to the logic of other bits Bit 9 r...

Page 41: ... 1 6040 Create a communica tion OP state setting motion parameters 00h 06h 07h 0fh 2fh 3f h 10fh 6041 250h 231h 233h 8237h 1237h 1637h 1237h 1737h 1238h PV mode 3 6040 Create a communica tion OP state setting motion parameters 00h 06h 07h 0fh Immediat e operation after enabling Change the speed 10fh 6041 250h 231h 233h 1637h 1637h 1637h 1737h 1638h HM mode 6 6040 Create a communica tion OP state s...

Page 42: ...h Probe 2 rising edge trigger complete Touch Probe 2 action 60BAh Touch Probe 1 rising edge capture data value register 60BBh Touch Probe 1 falling edge capture data value register 60BCh Touch Probe 2 rising edge capture data value register 60BDh Touch Probe 2 falling edge capture data value register 60FDh The state of bit26 is bit 1 and bit 2 AND logic of Object 60B9h The state of bit27 is bit 9 ...

Page 43: ...EM3E Series EtherCAT Stepper Drive User Manual 43 Figure 6 1 Touch Probe Mode ...

Page 44: ...the motor running in negative direction When the motor reaching the negative limit signal for the first time it will slow down and stop then run in reverse at last stops immediately when reaching the negative limit signal for the second time Method 17 Method18 Description The load is located on the left side of the positive limit switch and the motor running in positive direction When the motor re...

Page 45: ...9 20 21 22 require origin switch or home switch Method19 20 Description The load is located on the left or right side of the origin switch or home switch Method 19 20 Method21 22 Description The load is located on the origin switch or home switch Method 21 22 ...

Page 46: ...per Drive User Manual 46 Method 23 24 25 26 require origin switch or home switch and positive limit switch Method 23 24 25 26 Method 27 28 29 30 require origin switch or home switch and negative limit switch Method 27 28 29 30 ...

Page 47: ...EM3E Series EtherCAT Stepper Drive User Manual 47 Method 35 37 use the current position as the origin signal or home signal it s recommended method 37 Method 35 37 ...

Page 48: ...ave motion parameters R W UDIN T 0 0xFFFFFFF F 0 04 Save factory parameters R W UDIN T 0 0xFFFFFFF F 0 1011 00 Number of sub index R UINT 0 32767 4 01 Restore all parameters to default setting R W UDIN T 0 0xFFFFFFF F 0 Need to write 0x64616f6c or 1684107116 decimal into sub index It will return 1 if save successfully 02 Reset communication parameters to factory setting R W UDIN T 0 0xFFFFFFF F 0 ...

Page 49: ...32767 7 Default number of 1st mapping object 01 08 1st TXPDO Map object R W UDIN T 0 0xFFFFFFF F Default number of 1st TXPDO Map object 1A01 0 Number of sub index R W UINT 0 32767 0 Default number of 2nd mapping object 01 08 2nd TXPDO Map object R W UDIN T 0 0xFFFFFFF F Default number of 2nd TXPDO Map object 1C00 0 Number of sub index R UINT 0 32767 4 01 Output type of email R UINT 0 32767 1 02 In...

Page 50: ...201D 00 Zero speed point R W S UINT 0 500 10 0 1r s 2047 00 Over voltage point R W S UINT 0 1000 75 V 2048 00 Bus voltage R UINT 0 65535 V 2051 00 Motor running direction R W DINT 0 255 0 Valid when 0x225C 0 0 CCW direction 1 or 4 CW direction 2056 00 Alarm detection selection R W S DINT 0 65535 65535 Bit setting 1 Yes 0 No Bit0 over current Cannot be changed Bit1 over voltage 2090 01 Current loop...

Page 51: ...fer to 0x605A 22BA 00 Holding time R W UINT 10 3000 200 ms How long after the current switch to standby current 22BB 00 Holding current percentage R W UINT 0 100 50 The percentage of current to peak current during standby time 22C2 01 JOG acceleration R W UINT 0 32767 200 02 JOG speed R W UINT 0 32767 60 03 JOG distance R W UINT 0 32767 0 04 JOG cycles R W UINT 0 32767 1 05 JOG direction R W UINT ...

Page 52: ...Synchronization interface parameters R UINT 0 32767 0F Sync0 Synchronization interface parameters R W UINT 0 32767 Bit0 1 RPDO mapping can t be written by SDO Bit0 0 RPDO mapping can be written by SDO Bit1 1 Detect the number of PDO mapping Bit1 1 Don t detect the number of PDO mapping Bit2 1 Send 0xF directly to enable Bit2 0 Send 0xF can t be enabled 5005 00 DC compensation base value R W UINT 0...

Page 53: ...al takes effect bit0 0 means homing normally bit0 1 means stop homing as limit protection Bit2 0 The value of current position after in position 0x607C Bit2 1 The value of 0x607C is used as the motion offset and finally 0x6064 0 Bit3 0 0x6064 0x607C after in position Bit3 1 0x6064 0x607C after in position 5015 05 Protocol setting R W UINT 0 32767 255 Bit8 is used to select whether the speed arriva...

Page 54: ...0x6084 switch on quick stop state 6 After decelerating to stops at a speed value of 0x6085 switch on quick stop state 7 After decelerating to stops at a speed value of 0x60C6 switch on quick stop state 605D 00 Asynchronous mode halt selection R W INT 0 65535 1 1 After decelerating to stops at a speed value of 0x6084 keep operation enable state 2 After decelerating to stops at a speed value of 0x60...

Page 55: ...saved and the drive must be restarted to take enable the new the software limits 02 Software positive limit R W DINT 2147483648 2147483647 0 P 607E 00 Motor direction R W USIN T 0 255 0 Need to set 0x225C first 60FF 00 Target velocity R W DINT 2147483648 2147483647 0 P S Profile velocity under PV mode 6080 00 Max velocity limit R W S UDIN T 2147483648 2147483647 3000 rpm 6081 00 Max profile veloci...

Page 56: ...ive value R DINT 2147483648 2147483647 0 P Data value sensed by touch probe 2 at rising edge 60BD 00 Touch probe 2 negative value R DINT 2147483648 2147483647 0 P Data value sensed by touch probe 2 at falling edge 60C2 1 01 Interpolation time period value R W USIN T 0 255 2 Only for internal tuning 02 Interpolation time unit R W SINT 128 127 0 60D5 00 Touch probe 1 rising edge counter R UINT 0 655...

Page 57: ... Connectors Pic Description Brand Specification Model Number Package Inside Motor Connector MOLEX 4PIN 13A 39012040 1 Yes MOLEX 39000038 4 Yes I O Connector ANYTEK 2 5PIN 3 5mm NL10100200G0G 1 Yes Power Connector DEGSON 2PIN 5 0mm 2EDGK 5 0 02P 13 1000 AH 1 Yes ...

Page 58: ...network ports blinks rapidly the run green light is on for a long time and the Err red light is off PDO configuration or PDO mapping error It needs to configure PDO or PDO mapping correctly Check if the value of object 0x6040 is 16 F and if bit0 bit3 of object 0x6041 is 0111 Check the master for warnings or errors Clear the master station alarm or warning If the master station shows enable complet...

Page 59: ...ming mode the 0x6060 6 when using the master slave combination homing method the 0x6060 value is first 8 and then 6 Please check master manufacturer for default homing mode and then check the selected homing method the relevant parameters are correct and the limit switch needed in the selected homing method is normal Stop on the limit switch and keep processing Busy state Some master stations are ...

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