Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-32
After reaching the falling edge of the HmRef signal, the Motor changes to run in positive direction at
low speed.
After reaching the rising edge of the HmRef signal, the Motor stops at the first Motor C-pulse signal.
6098h = 9
Home: the Motor C-pulse signal
Deceleration point: home switch (HmRef)
Deceleration point signal inactive at homing start, not reaching positive limit switch:
Motion Profile
C-pulse signal
Home switch
Positive limit switch
H
-L
Positive limit switch
Home switch
L
The HmRef signal is inactive initially, and the Motor starts homing in positive direction at high speed.
If the Motor does not reach the limit switch, it decelerates and continues to run in positive direction at
low speed after reaching the rising edge of the HmRef signal.
After reaching the falling edge of the HmRef signal, the Motor changes to run in negative direction at
low speed, and stops at the first Motor C-pulse signal.
