Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-31
After reaching the falling edge of the HmRef signal, the Motor changes to run in positive direction at
low speed, and stops at the first Motor C-pulse signal.
Deceleration point signal inactive at homing start, reaching positive limit switch:
Motion Profile
C-pulse signal
Home switch
Positive limit switch
H
-H
Positive limit switch
Home switch
-L
L
The HmRef signal is inactive initially, and the Motor starts homing in positive direction at high speed.
If the Motor reaches the limit switch, it automatically changes to run in negative direction at high
speed.
After reaching the rising edge of the HmRef signal, the Motor decelerates and continues to run in
negative direction at low speed.
After reaching the falling edge of the HmRef signal, the Motor changes to run in positive direction at
low speed, and stops at the first Motor C-pulse signal.
Deceleration point signal active at homing start:
Motion Profile
C-pulse signal
Home switch
Positive limit switch
Positive limit switch
Home switch
-L
The HmRef signal is active initially, and the Motor directly starts homing in negative direction at low
speed.
