Homing Mode - Delta CMC-EC01 Operation Manual

EtherCAT Option Card CMC-EC01
5.2.4

Homing Mode

The purpose of homing is to establish the coordinate system of the drive. After the coordinate system
is established, the drive can execute the position command given by host. Thirty-five homing modes
defined by the CiA402 specification are supported by the drive, including modes such as searching
the origin switch, positive and negative limits, and Z pulse.
Controlword (6040
h
Homing method (6098
Homing speed (6099
Homing acceleration (609A
Home offset (607C
The operation steps are as follows:
1. Setting mode: OD 6060h = 06h, which is the homing mode
2. Set the origin offset value: OD 607Ch
3. Set the origin searching method: OD 6098h
4. Set the speed when searching for the origin switch: OD 6099h sub1 (Pulse/sec)
5. Set the speed of searching for Z pulse: OD 6099h sub2 (Pulse/sec)
6. Set the homing acceleration/deceleration time: OD 609Ah
7. Set the control command: OD 6040h, the control word command makes the drive operate
according to the above settings by using the following steps. For the state machine of the drive,
refer to OD 6041h.
(1) OD 6040h = 06h, the drive enters Ready to Switch On state
(2) OD 6040h = 0Eh, the drive enters Switch On state (Servo On)
(3) OD 6040h = 0Fh, the drive enters Operation Enable state
(4) OD 6040h = 1Fh, the drive starts running
The corresponding control commands are as follows:
Steps Bit 4
(1) 0
(2) 0
(3) 0
(4) 1
Read drive information
1. OD 6041h, to acquire the drive status
2. OD 6064h, to obtain the motor feedback position at present
)
)
h
)
h
)
h
)
h
Bit 3 Bit 2 Bit 1
0 1 1
0 1 1
1 1 1
1 1 1
Statusword (6041
Homing
Method
Position demand value (6062
Bit 0
0 Shutdown (Close)
1 Switch On (Drive Servo On Ready)
1 Enable Operation (Drive Servo On)
1 Command Trigger (Rising-edge Trigger)
)
h
)
h
Description
CMC-EC01 Operation Manual 33