ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 69)

9.4.6 Methods 15 and 16: Reserved
These methods are reserved for future expansion of the homing mode.
9.4.7 Methods 17 to 30: Homing without an index pulse
These methods are similar to methods 1 to 14, except that the home position is not
dependent on the index pulse; it is dependent only on the relevant home or limit switch
transitions. For example, methods 19 and 20 are similar to methods 3 and 4, as shown in
the following diagram:
Figure 9-7: Homing on the positive home switch
9. x pulse
Using methods 33 or 34, the direction of homing is negative or positive, respectively. The
home position is at the index pulse found in the selected direction.
9.4.8 Methods 31 and 32: Reserved
These methods are reserved for future expansion of the homing mode.
4.9 Methods 33 and 34: Homing on the inde
Figure 9-8: Homing on the positive home switch
9.4.10 Method 35: Homing on the current position
In this method, the current position is taken to be the home position.
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
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