3.1.8.2.3.3.4 Homing acceleration
object 0x609A: Homing Acceleration
a value for acceleration during homing must be defined.
Note
An acceleration is not needed in method 35/37.
3.1.8.2.3.3.5 Setting digital I/Os for Homing
Object 0x2210 (GPIO Pin configuration)
is used to configure the digital inputs for homing and limit switches.
Switches can be configured in both active high and active low configuration. But only one GPIO can be
assigned to one switch whether active high or active low. For example If Pin 3 is configured as Active High
Limit Switch, then configuring any other pin as Limit Switch Active High or Active Low will raise the error
IvldGpio (Invalid GPIO error) in the
.
Further details about configuring digital I/Os can be found in
Object 0x60FD (Digital inputs)
reports the state of the digital inputs which can be configured for limit
switches, interlock, etc.
3.1.8.2.3.4 How to perform homing
The following diagram shows the steps that are necessary to perform the homing function.
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