4. CiA402 Drive Profile
Method 28: Homing on Origin Switch (Negative Direction, Positive Edge)
Figure 4.17: Homing Method 28
In this homing method, it start to move in the negative direction and the speed is Speed during search
for switch (6099h, Sub-Index 1), until Origin Switch is detected. If a Negative 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 positive direction and moves in the opposite direction to detect the
Origin Switch again, and sets that position as sensor origin position.
Method 33, 34: Homing Index Pulse
Figure 4.18: Homing Method 33
Origin search method 33 is to move from current position to negative direction, 34 is moving to positive
direction and movement velocity is Speed during search for zero (6099h, Sub-Index 2). Index Pulse
goes ON then stops then set correspondent position as sensor origin position.
Method 35: Set the current position origin
This origin search method is to set current position as sensor origin position.
Method 37: Set the current position origin and reset current position
This origin search method is to set current position as sensor origin position. If set value of Home offset
(607Ch) is not 0, initialize current position as Home offset value.
Rev.37
FASTECH Co., Ltd.
58
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...
