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ASDA-A3

12

Object 6098h: Homing method

Index

Name

Object code

Data type

Access

PDO mapping

Setting range

Default

6098h

Homing method

VAR

INTEGER8

RW

Yes

-4 to 35

0

Object function:

The homing methods include looking for the Z pulse (Methods 1 - 14, 33, 34, 36, 37), not

looking for the Z pulse (Methods 17 - 30), defining the current position as the origin (Method

35), and looking for the hard stop (Methods 36 - 39). Methods 15, 16, 31, and 32 are reserved.

To use Methods 1 to 35, set OD 6098h to 1 to 35. To use Methods 36 to 39, set OD 6098h to

-1 to -4.

Method 1: homing on the negative limit switch and Z pulse

indicates OD 6099h sub1 1st homing speed

indicates OD 6099h sub2 2nd homing speed

Starting

point

1

Z pulse

Negative limit

switch

Method 2: homing on the positive limit switch and Z pulse

Starting point

2

Z pulse

Positive limit

switch

12-76

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