Homing Method - Leadshine iSV2-CAN Series User Manual

2b 40 60 00 07 00 00 00
14
2b 40 60 00 06 00 00 00
15
Notes: The COB-ID of step 1 (reset node) and step 2 (start node) is "0x000", and the COB-ID of the remaining
steps is the address 0x600 + Node ID

6.8.5 Homing Method

Method -6：Search the homing point with low speed negative direction, when the torque reached then stop
immediately.
Start Position
Method -5：Search the homing point with low speed positive direction, when the torque reached then stop
immediately.
Start Position
Method -4：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.
Start position
Method -3：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.
Start Position
Method -2：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.
Write control word as 07H,state machine switching status
Operation Enable -> Switched On. Servo-Disabled.
Write control word as 06H,state machine switching status
Switched On ->Ready to Switch On.
Stop Position
Stop Position
Stop Position
Stop Position
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User Manual of iSV2-CAN Servo
Low speed of homing 6099h-02h
Low speed of homing 6099h-02h
High speed
6099h-01h
High speed
6099h-01h
Low speed
6099h-02h
Low speed
6099h-02h