0x6098 - Homing method

Index	Sub Index	Name	Data Type	Acc.	Pdo Map.	NVM	Value range	Default value	Units
0x6098	0x00	Homing method	INT8	RW	Yes	Yes	INT8	37	-

This object is used to select the homing method to be used among the homing methods supported.

Data description:

Object values are interpreted as follows:

Value	Homing method
-128 to -1	Reserved
0	No homing operation
1	Homing on the negative limit switch and index pulse
2	Homing on the positive limit switch and index pulse
17	Homing on the negative limit switch
18	Homing on the positive limit switch
33	Homing on negative index pulse
34	Homing on positive index pulse
37	Homing on current position

Diagram interpretation

In the following figures, an encircled number indicates code selection for the homing position. Direction of movement is also indicated with an arrow. In all the diagrams, the encoder count increases as the axis is displaced to the right, in other words, the leftmost postition is the minimum position, and the rightmost position is the maximum position.

Whenever two or more movements are described, except where indicated, the first movement is always performed at the speed during search for switch , and subsequent movements are performed at the speed during search for zero.

Homing speeds

Notice that, when index pulse is not used for homing, the speed searching for zero is not used.

Homing on the negative limit switch and index pulse

This method starts motor movement in a negative direction until a change on the output signal of an electromecanical switch placed at the leftmost position is detected.

Afterwards, the axis is moved in a positive direction until the switch signal toggles its value again. When the switch signal has toggled, the movement continues until an index pulse is received. This is the home point.

If the whole homing process is not finished within the time specified in the timeout field of the homing extra parameters register, the homing process is aborted at this point, the statusword error bit is set, and an emergency message is sent.

Homing on the positive limit switch and index pulse

This method starts motor movement in a positive direction until a change on the output signal of an electromecanical switch placed at the rightmost position is detected.

Afterwards, the axis is moved in a negative direction until the switch signal toggles its value again. When the switch signal has toggled, the movement continues until an index pulse is received. This is the home point.

Homing on the negative limit switch

This method starts motor movement in a negative direction until a change on the output signal of an electromecanical switch placed ad the leftmost position is detected.

Afterwards, the axis is moved in a positive direction until the switch signal toggles its value again. This is the home point.

Homing on the positive limit switch

This method starts motor movement in a positive direction until a change on the output signal of an electromecanical switch placed ad the rightmost position is detected.

Afterwards, the axis is moved in a negative direction until the switch signal toggles its value again. This is the home point.

Homing on negative index pulse

This method starts motor movement in a negative direction until an index pulse is received. This is the home point. If an index pulse has not been received within the time specified in the timeout field of the homing extra parameters register, the homing process is aborted at this point, the statusword error bit is set, and an emergency message is sent.

This movement is performed at the speed during search for zero.

Homing on positive index pulse

This method starts motor movement in a positive direction until an index pulse is received. This is the home point. If an index pulse has not been received within the time specified in the timeout field of the homing extra parameters register, the homing process is aborted at this point, the statusword error bit is set, and an emergency message is sent.

This movement is performed at the speed during search for zero.

Homing on current position

Home position is the current position. This is the only homing method that does not require the controller to be in operation enabled state, and no timeout is implemented.