Emerson SI-EtherCAT User Manual page 67

Figure 7-7 Homing on positive home switch
Method 31 and 32: Reserved
These methods are reserved.
Method 33 and 34: Homing on index pulse
Using these methods, the direction of homing is negative or positive respectively. The home
position shall be at the index pulse found in the selected direction as shown in Figure 7-8 Homing
on index pulse on page 67.
Figure 7-8 Homing on index pulse
Method 35: Homing on index pulse
In this method, the current position shall be taken to be the home position. This method does not
require the drive device to be in operational enabled state.
Use of controlword and statusword
The homing mode uses some bits of the controlword and the statusword for mode-specific
purposes. Table 7-52 Definition of bits 4 and 8 of the controlword on page 67 defines the values for
bits 4 and 8 of the controlword.
Table 7-52 Definition of bits 4 and 8 of the controlword
Bit Value
0
4
1
0
8
1
SI-EtherCAT User Guide
Issue Number: 2
Do not start homing procedure.
Start or continue homing procedure.
Enable bit 4.
Stop Axis according to the configured Slow down or Quick stop ramp
Definition
67