Technical Manual N5 (CANopen)
6 Operating modes
In the following graphics, the negative movement direction is to the left. The limit switch is located
before the respective mechanical block; the home switch is located between the two limit switches. The
index pulses come from the connected encoder.
For methods that use homing on block, the same figures apply as for the methods with limit switch.
Because nothing is different aside from the missing limit switches, the same figures are used. For the
figures here, the limit switches must be replaced with a mechanical block.
Homing on block
Homing on block currently only functions in closed loop mode.
"Homing on block" functions like every homing method with the difference that instead of a limit switch,
a block (limit stop) is used for positioning. Two settings are to be made here:
1. Current level: In object 203A
:01, the current level is defined above which movement against the
block is detected.
2. Blocking duration: In object 203A
:02, the duration during which the motor moves against the block
is set.
t
motor current
position
Block
level of blocking
current 203A
h
:01
blocking time
203A
h
:02
Overview of methods
Methods 1 to 14 as well as 33 and 34 use the index pulse of the encoder.
Methods 17 to 32 are identical to methods 1 to 14 with the difference that only limit or home switches
are used for referencing and not the index pulse.
•
Methods 1 to 14 use an index pulse.
•
Methods 17 to 30 do not use an index pulse.
•
Methods 33 and 34 reference only to the next index pulse.
•
Method 35 references to the current position.
The following methods can be used for homing on block:
•
Methods -1 to -2 and -7 to -14 contain an index pulse
•
Methods -17 to -18 and -23 to -30 have no index pulse
Methods 1 and 2
Reference to limit switches and index pulse.
Method 1 references to negative limit switch and index pulse:
Version: 2.0.1 / FIR-v1650
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