Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-39
If the Motor reaches the limit switch, it automatically changes to run in positive direction at high
speed.
After reaching the rising edge of the HmRef signal, the Motor decelerates and continues to run in
positive direction at low speed.
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.
Deceleration point signal active at homing start:
Motion Profile
C-pulse signal
Home switch
Negative limit switch
Home switch
Negative limit switch
L
-L
The HmRef signal is active initially, and the Motor directly starts homing in positive direction at low
speed.
After reaching the falling edge of the HmRef signal, the Motor 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.
