4. CiA402 Drive Profile
Method 2: Homing on Positive Limit Switch and Index Pulse
Figure 4.11: Homing Method 2
In this homing method, it start to move in the positive direction and the speed is Speed during search for
switch (6099h, Sub-Index 1), until Positive Limit Switch is detected.
When a Positive Limit Switch is detected, it moves out of the Limit Switch at the speed of Speed during
search for zero (6099h, Sub-Index 2) in the negative direction and moves in the opposite direction to
detect the Limit Switch again.
Then, it moves in the negative direction until Index Pulse is detected, and sets that position as sensor
origin position.
Method 7: Homing on Origin Switch (Positive Direction, Negative Edge) and Index Pulse
Figure 4.12: Homing Method 7
In this homing method, it start to move in the positive direction and the speed is Speed during search
for switch (6099h, Sub-Index 1), until Origin Switch is detected. If a Positive Limit Switch is detected, it
moves in the opposite direction until the Origin Switch is detected.
When a Origin Switch is detected, it moves out of the Origin Switch at the speed of Speed during search
for zero (6099h, Sub-Index 2) in the negative direction and moves in the opposite direction to detect the
Origin Switch again.
Then, it moves in the negative direction until Index Pulse is detected, and sets that position as sensor
origin position.
Rev.37
FASTECH Co., Ltd.
55
Summary of Contents for Ezi-SERVOII EtherCAT TO
Page 10: ...Chapter 1 Product Specification Rev 37 FASTECH Co Ltd 10...
Page 12: ...1 Product Specification 1 2 Product Dimension Figure 1 2 Dimensions Rev 37 FASTECH Co Ltd 12...
Page 15: ...Chapter 2 Installation Rev 37 FASTECH Co Ltd 15...
Page 29: ...Chapter 3 EtherCAT Communication Rev 37 FASTECH Co Ltd 29...
Page 35: ...Chapter 4 CiA402 Drive Profile Rev 37 FASTECH Co Ltd 35...
Page 67: ...Chapter 5 Operation Rev 37 FASTECH Co Ltd 67...
Page 71: ...Chapter 6 EtherCAT Object Dictionary Rev 37 FASTECH Co Ltd 71...
