Elmo DSP 402 User Manual

CANopen DSP 402 Implementation Guide 

MAN-CAN402IG (Ver. 1.2) 

 

 

58 

  The speed is submitted to the maximum speed limit given by the user during 

setup. Otherwise, an abort message with abort code 0609 0030, “Value range of 
parameter exceeded” is activated. If the limits have been changed during the 
process, the drive enters a fault state. 

 

Object 0x609A: Homing acceleration  
This object establishes the acceleration to be used for all accelerations and decelerations 
with the standard homing modes, and is given in acceleration units. 

 

Object description: 

Name Homing 

acceleration 

Object code 

VAR 

Data type 

UNSIGNED32 

Category Optional 

 

Entry description: 

Access Read/write 

PDO mapping 

No 

Value range 

UNSIGNED32 

Default value 

No 

  Home deceleration is performed according to the SD value set during setup. The 

user may use the binary interpreter to modify this value. Refer to the relevant 
Command Reference Manual for the SD parameter information. 

Choosing a method of homing by writing a value to homing method clearly establishes the: 

 

Homing signal (positive limit switch, negative limit switch, home switch) 

 

Direction of actuation 

 

Position of the index pulse, where appropriate 

Homing is performed on either the main position sensor (PX) or the auxiliary position 
sensor (PY), depending on the unit mode — for position loop (UM=5) or dual loop 
(UM=4) — respectively. The relevant source is selected when homing is activated by the 
controlword. 

The home position and zero position are offset by the home offset (see the home offset 
definition for how this offset is used).