Index Homing And Single/Multi-Turn Encoder; Switch Positive Edge Homing; Gantry System Homing - Servotronix CDHD2S User Manual

Application Setup

6.19.2 Index homing and single/multi-turn encoder

The index pulse homing can also be used with absolute multi-turn and absolute single-turn
feedback devices. The index pulse position used for homing is the zero position of the single-turn
data.
Homing methods: HOMETYPE1 - 14, 33, 34, -9, -10, -13, -14, -34, -65, -66, -97, -98. In these
methods, HOMESPEED1 is used before a limit switch, zero switch, or hard stop is detected.
Once an appropriate sequence time occurs (for example, the direction of the limit switch is
reversed), the axis detects the index pulse (or the equivalent signal on the absolute encoder) in
HOMESPEED2 motion.

6.19.3 Switch positive edge homing

Homing methods: HOMETYPE24, 28
In some cases, reaching the positive edge with HOMESPEED1 may be too fast, resulting in
inaccurate homing position.
In order to improve the homing accuracy of methods 24 and 28, it is recommended to use
homing methods -24 and -28. Both methods involve reversing the motion with HOMESPEED2 until
the required event occurs.

6.19.4 Gantry system homing

The homing command (HOMECMD) must be sent to the CDHD2S gantry main drive to start
and control the two gantry motors to home
In an EtherCAT/CANopen system, each drive must be set to the "homing" operation mode
(OPMODE6) and then wait to receive a homing command from the motion controller. The homing
will be performed first by the gantry main drive, and then the gantry differential drive will be started
to home.
Please refer to the Gantry Setup and Gantry Tuning section.
Rigid gantry system homing
In a rigid CDHD2S gantry system, the homing requirements and methods are as follows:
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