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CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
54
Name Value Description
0 Homing mode inactive.
0→1 Start homing mode.
1 Homing mode active.
Homing
operation start
1→0 Interrupt homing mode.
0 Execute the instruction of bit 4. Halt
1 Stop axle with homing deceleration.
Notes:
If homing is interrupted by setting bit 4 from “1” to “0”, the movement of the
motor is not interrupted; that is, the motor remains in its present state, either
moving or not. The home sequence is interrupted and the home target is not
attained. By setting the bit back to “1”, the homing mode begins again.
If a Halt occurs, the drive stops the homing method and halts the motor
according to object 609Ah. When this bit is set to “0” and bit 4 remains “1”, the
home method begins again.
Statusword of Homing Mode
Bit Function
0…9 Described in Device Control
10 Target reached
11 Described in Device Control
12 Homing attained
13 Homing error
14…15 Described in Device Control
Name Value Description
0 Halt = 0: Homing position not reached
Halt = 1: Axle decelerates
Target reached
1 Halt = 0: Homing position reached
Halt = 1: Velocity of axle is 0
0 Homing mode not yet completed. Homing attained
1 Homing mode carried out successfully.
0 No homing error. Homing error
1 Homing error occurred.
Homing mode carried out unsuccessfully.
Error cause found in error code.
During the homing process, no reference position limits are active. If no physical
limit exists — such as the limit switch — the load may travel indefinitely.