TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04
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9
Homing Mode
This chapter describes the method by which a drive seeks the home position (reference point). There are
various methods of achieving this using limit switches at the ends of travel or a home switch in mid-travel.
Some methods also use the index (zero) pulse train from an incremental encoder. The user may specify
the speeds, acceleration and the method of homing.
There is no output data except for those bits in the statusword which return the status or result of the
homing process and the demand to the position control loops.
There are four sources of the homing signal available: these are positive and negative limit switches, the
home switch and the index pulse from an encoder.
Figure
shows the defined input objects as well as the output objects. The user can specify the speeds,
acceleration and method of homing. The home offset object 607C
h
allows displacing the zero in point the
coordinate system for the home position.
Homing method
Controlword 6040
h
Homing method 6098
h
Homing speeds 6099
h
Homing acceleration 609A
h
Home offset 607C
h
Statusword 6041
h
Position demand value 6062
h
Figure 9: Homing Mode Function
Choosing a homing mode determines the following things:
• The homing signal (positive limit switch, negative limit switch, and home switch).
• The direction of actuation where appropriate.
• The position of the index pulse.
The home position and the zero position are offset by the home offset (see object 607C
h
, section
Depending on the module there are different sources of homing methods available:
• Negative and positive limit switches.
• Home switch.
• Index pulse of an encoder.
For the operation of positioning drives, an exact knowledge of the absolute position is normally required.
Since for cost reasons drives often do not have an absolute encoder, a homing operation is necessary.
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