SM-EtherCAT User Guide
51
Issue Number: 2
www.controltechniques.com
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Method 15 and 16: Reserved
These methods are reserved.
Method 17 to 30: Homing without index pulse
These methods are similar to methods 1 to 14 except that the home position is not
dependent on the index pulse but only dependent on the relevant home or limit switch
transitions. For example methods 19 and 20 are similar to methods 3 and 4 as shown in
Figure 7-9
Homing on positive home switch
on page 51.
Figure 7-9 Homing on positive home switch
Method 31 and 32: Reserved
These methods are reserved.
Method 33 and 34: Homing on index pulse
Using these methods, the direction of homing is negative or positive respectively. The
home position shall be at the index pulse found in the selected direction as shown in
Figure 7-10
Homing on index pulse
on page 51.
Figure 7-10 Homing on index pulse
Method 35: Homing on index pulse
In this method, the current position shall be taken to be the home position. This method
does not require the drive device to be in operational enabled state.
Summary of Contents for SM-EtherCAT
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