8 Home Position Return and Internal Positions
139 SD780 Series Servo Technical Manual
Note: the definition of above 1 to 34 home position return methods is according to the CANopen
protocol CIA402 standards, and is same as the home position return methods given in the
CANopen protocol. The following describes the 1 to 34 methods of the home position return.
8.1.1 Home position return trigger
The home position return trigger can automatically perform home position return via SI terminal
trigger, point trigger, communication trigger and power-on.
8.1.2 Home position return SI terminal trigger
By configuring the universal SI terminal as the home position trigger function HomeTrig, the home
position return is triggered. The rising edge of HomTrig could trigger the home return. The input
function definition of SI terminal related to home return is shown in Table 2.1 below:
Table 2.1 SI terminal input function definition
SI Terminal
Name
SI Terminal
Function Code
Function Description
HomeTrig
0x1C
Home position return trigger function (valid on
rising edge)
HomeReach
0x1D
External input home position signal (valid at high
level)
Select the SI terminal as the home position trigger signal by configuring the general SI terminal
function as 0x1C. When the rising edge of this SI terminal is valid, the home position return is
triggered.
8.1.3 Home position return automatically trigger when power on
The home position return function can be configured to automatically find the home position after
the servo drive is powered on for the first time by configuring the function code Pn800. The
function definition of Pn800 is shown in the figure below:
