Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-28
6098h = 6
Home: the Motor C-pulse signal
Deceleration point: home switch (HmRef)
Deceleration point signal inactive at homing start:
Motion Profile
C-pulse signal
Home switch
-L
Home switch
The HmRef signal is inactive initially, and the Motor directly starts homing in negative direction at
low speed.
After reaching the rising edge of the HmRef signal, the Motor stops at the first Motor C-pulse signal.
Deceleration point signal active at homing start:
Motion Profile
C-pulse signal
Home switch
Home switch
H
-L
The HmRef signal is active initially, and the Motor starts homing in positive direction at high speed.
After reaching the falling edge of the HmRef signal, the Motor decelerates and changes to run in
negative direction at low speed.
After reaching the rising edge of the HmRef signal, the Motor stops at the first Motor C-pulse signal.
