Emerson SM-EtherCAT, User Manual

Page: 49 / 70

SM-EtherCAT User Guide
49
Issue Number: 2 www.controltechniques.com
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Method 3 and 4: Homing on positive home switch and index pulse
Using these methods as shown in Figure 7-5 Homing on positive home switch and
index pulse on page 49, the initial direction of movement shall be dependent on the
state of the home switch. The home position shall be at the index pulse either to the left
or the right of the point where the home switch changes state. If the initial position is
sited so that the direction of movement shall reverse during homing, the point at which
the reversal takes place is anywhere after a change of state of the home switch.
Figure 7-5 Homing on positive home switch and index pulse
Method 5 and 6: Homing on negative home switch and index pulse
Using these methods as shown in Figure 7-6 Homing on negative home switch and
index pulse on page 49, the initial direction of movement shall be dependent on the
state of the home switch. The home position shall be at the index pulse either to the left
or the right of the point where the home switch changes state. If the initial position is
sited so that the direction of movement shall reverse during homing, the point at which
the reversal takes place is anywhere after a change of state of the home switch.
Figure 7-6 Homing on negative home switch and index pulse
Method 7 to 14: Homing on home switch and index pulse
These methods use a home switch, which is active over only a portion of the travel; in
effect the switch has a 'momentary' action as the axis's position sweeps past the switch.
Using the methods 7 to 10, the initial direction of movement shall be to the right, and