CANopen Technical Guide | ASDA-A2 3.3 Homing Mode 3.3.1 Description This mode could help drive to seek the home position. The user can specify the speeds, acceleration and the method of homing. 3.3.2 Operation Procedure ① Set 【 Mode of operations:6060h 】 to homing mode(6). ② Set 【 Home offset:607Ch 】 ③ Set 【 Homing method:6098h 】 , method range is 1~35. (refer to OD-9098h definition below) ④ Set 【 Homing speeds:6099h Sub-1 】 to set speed during search for switch. (unit: rpm) ⑤ Set 【 Homing speeds:6099h Sub-2 】 to set speed during search for zero. (unit: rpm) ⑥ Set 【 Homing acceleration:609Ah 】 for homing acceleration. (unit:
millisecond from 0rpm to 3000rpm) ⑦ Set 【 Controlword:6040h 】 to servo on drive and make motor work. ⑧ Find Home Switch and do homing. ⑨ Query 【 Statusword:6041h 】 to get drive status. 3.3.3 Associated Object List (Please refer to the following “Details of Objects” section for more detailed descriptions) Revision Sep, 2012 18 Index Name Type Attr. 6040h Controlword UNSIGNED16 RW 6041h Statusword UNSIGNED16 RO 6060h Modes of operation INTEGER8 RW 6061h Modes of operation display INTEGER8 RO 607Ch Home offset INTEGER32 RW 6093h Position factor UNSIGNED32 RW 6098h Homing method INTEGER8 RW 6099h Homing speeds ARRAY RW 609Ah Homing acceleration UNSIGNED32 RW