Leadshine iSV2-CAN Series User Manual page 50

If 6092h_01(Feed constant) is not equal to 608Fh(Position encoder resolution), then:
If 6092h_01(Feed constant) is equal to 608Fh(Position encoder resolution), then:
Name
Index
6098H
Access
Homing
Method
-6
-5
-4
-3
-2
-1
1
2
3
4
5
6
7
8
9
10
11
12
Electronic gear ratio = Encoder resolution / 6092h_01
Electronic gear ratio = 6091_01 / 6092h_01
Homing Method
RW RPDO
Mapping
Description
Search the homing point with low speed negative direction, when the torque reached then stop
immediately
Search the homing point with low speed positive direction, when the torque reached then stop
immediately
Search the homing point with low speed negative direction, when the torque reached then
change the motion direction, when the torque is gone then stop immediately
Search the homing point with low speed positive direction, when the torque reached then
change the motion direction, when the torque is gone then stop immediately
Search the homing point with low speed negative direction, when the torque reached then
reverse the direction, when the torque is gone and Z signal coming then stop immediately
Search the homing point with low speed positive direction, when the torque reached then
reverse the direction, when the torque is gone and Z signal coming then stop immediately
Search the homing point in negative direction, deceleration point is negative limit switch,
homing point is motor Z signal, the negative limit switch falling edge must come before Z
signal
Search the homing point in positive direction, deceleration point is positive limit switch, homing
point is motor Z signal, the positive limit switch falling edge must come before Z signal
Search the homing point in positive direction, deceleration point is homing switch, homing
point is motor Z signal, the falling edge on the same side of homing switch must come before Z
signal
Search the homing point in negative direction, deceleration point is homing switch, homing
point is motor Z signal, the rising edge on the same side of homing switch must come before Z
signal
Search the homing point in negative direction, deceleration point is homing switch, homing
point is motor Z signal, the falling edge on the same side of homing switch must come before Z
signal
Search the homing point in positive direction, deceleration point is homing switch, homing
point is motor Z signal, the rising edge on the same side of homing switch must come before Z
signal
Search the homing point in positive direction, deceleration point is homing switch, homing
point is motor Z signal, the falling edge on the same side of homing switch must come before Z
signal
Search the homing point in positive direction, deceleration point is homing switch, homing
point is motor Z signal, the rising edge on the same side of homing switch must come before Z
signal
Search the homing point in positive direction, deceleration point is homing switch, homing
point is motor Z signal, the rising edge on the other side of homing switch must come before Z
signal
Search the homing point in positive direction, deceleration point is homing switch, homing
point is motor Z signal, the falling edge on the other side of homing switch must come before Z
signal
Search the homing point in negative direction, deceleration point is homing switch, homing
point is motor Z signal, the falling edge on the same side of homing switch must come before Z
signal
Search the homing point in negative direction, deceleration point is homing switch, homing
point is motor Z signal, the rising edge on the same side of homing switch must come before Z
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User Manual of iSV2-CAN Servo
Structure
ALL
Mode Range
50
VAR Type Uint 8
0-35 Default 0