Applied Motion ST10-C-CE - Manual (Page 68)

68 920-0025 Rev K
3/5/2015
CANopen User Manual
Appendix F - Homing Methods
Set Running Parameters
Set the homing and index velocities, acceleration/deceleration, offset and home sensor (if
required) using OD entries 6099
h
, 609A
h
, 607C
h
, and 7001
h
respectively.
Note: It is important that the limit switch settings have been defined in ST Configurator or
Quick Tuner prior to using the CANopen Homing Mode.
Enable Homing Mode
To enable Homing Mode, the value 0006
h
must be written to the mode of operation OD entry,
located at dictionary address 6060
h
. The mode of operation can be verified using OD 6061
h
- mode
of operation display - which is updated when the current operation mode is accepted.
After power up or node reset, the drive is in disabled state. The value 0006
h
must be written
to the control word OD entry, located at dictionary address 6040
h
. This will put the drive into “ready
to switch on” state and is ready to enable drive operation. If the value 0006
h
is not written to the
control word first, the drive operation can not be enabled.
To put the drive into Operation Enabled Mode, write 000F
h
to the controlword OD entry,
located at dictionary address 6040
h
.
Starting the Homing Procedure
Set the Homing Method required using OD entry 6098
h
. To start the homing procedure, bit 4
of the controlword OD entry located at dictionary address 6040
h
, must transition from 0 to 1. The
status of the homing procedure can be monitored using the statusword OD entry 6041
h
.
Homing Method Diagrams
Homing Method 1
Homes to the first index CCW after the CW limit switch is reached.