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9.4.5 Methods 7 to 14: Homing on the home switch an
index pulse
These methods use a home switch that is active over only a portion of the travel; in effec
the switch has a “momentary” action as the axle position sweeps past the switch.
Using methods 7 to 10, the initial direction of movement is to the right, and using
methods 11 to 14, the initial direction of movement is to the lef
d
t,
t, except if the home
switch is active at the start of motion. In this case, the initial direction of motion is
dependent on the edge being sought. The home position is at the index pulse on either
side of the rising or falling edges of the home switch, as shown in the following two
diagrams. If the initial direction of movement leads away from the home switch, the
drive must reverse on encountering the relevant limit switch.
Figure 9-5: Homing on the home switch and index pulse — positive initial move
Figure 9-6: Homing on the home switch and index pulse — negative initial move
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
62