CS3E Series EtherCAT Closed Loop Stepper Drive User Manual
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Method 13
:
If the motor starting point is in the OFF state of HOME-SWITCH and Negative Limit, it will move
toward negative direction at Fast Homing Velocity (6099-01h), and has a deceleration when leaving
HOME-SWITCH , then moves toward positive direction at Low Homing Velocity , the motion stops at
the first effective Z signal during the ON state of HOME-SWITCH, as shown in Situation A of Figure
7-13.
If the motor starting point is in the ON state of HOME-SWITCH and OFF state of Negative Limit, it will
move toward negative direction at Fast Homing Velocity (6099-01h) and have a deceleration stop after
leaving HOME-SWITCH, then move toward positive direction at Low Homing Velocity, the motion stops
at the first effective Z signal during the ON state of HOME-SWITCH, as shown in Situation B of Figure
7-12.
If the motor starting point is in the OFF state of HOME-SWITCH and Negative Limit, it will move
toward negative direction at Fast Homing Velocity (6099-01h) until the Negative Limit goes ON to have
a quick stop, then moves toward positive direction at Low Homing Velocity, the motion stops at the first
effective Z signal during the ON state of HOME-SWITCH, as shown in Situation C of Figure 7-13.
If the Positive Limit signal goes ON during homing motion, bit 13 of Status Word (6041h) will be set, it
indicates an error in the homing motion.and the motor will stop immediately.
Figure 7-13 Method 13
Method 14
:
If the motor starting point is in the OFF state of HOME-SWITCH and Negative Limit, it will move
toward negative direction at Low Homing Velocity (6099-02h), and the motion stops at the first effective
Z signal during the OFF state of HOME-SWITCH, as shown in Situation A of Figure 7-14.
If the motor starting point is in the ON state of HOME-SWITCH and OFF state of Negative Limit, it will
move toward negative direction at Low Homing Velocity (6099-02h) and the motion stops at the first
effective Z signal during the OFF state of HOME-SWITCH, as shown in Situation B of Figure 7-12.
If the motor starting point is in the OFF state of HOME-SWITCH and Negative Limit, it will move
toward negative direction at Low Homing Velocity (6099-02h) until the Negative Limit goes ON to have
a quick stop, then moves toward positive direction at Fast Homing Velocity and have a deceleration stop
when HOME-SWITCH goes ON, then move toward negative direction at Low Homing Velocity, the
motion stops at the first effective Z signal during the OFF state of HOME-SWITCH, as shown in
Situation C of Figure 7-14.
If the Positive Limit signal goes ON during homing motion, bit 13 of Status Word (6041h) will be set, it
indicates an error in the homing motion.and the motor will stop immediately.