Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-42
6098h = 14
Home: the Motor C-pulse signal
Deceleration point: home switch (HmRef)
Deceleration point signal inactive at homing start, not reaching negative limit switch:
Motion Profile
C-pulse signal
Home switch
-H
Negative limit switch
Home switch
Negative limit switch
-L
The HmRef signal is inactive initially, and the Motor starts homing in negative direction at high speed.
If the Motor does not reach the limit switch, it decelerates and continues to run in negative direction at
low speed after reaching the rising edge of the HmRef signal.
After reaching the falling edge of the HmRef signal, the Motor continues to run in negative direction
at low speed, and stops at the first Motor C-pulse signal.
Deceleration point signal inactive at homing start, reaching negative limit switch:
Motion Profile
C-pulse signal
Home switch
Negative limit switch
Home switch
Negative limit switch
-H
H
-L
The HmRef signal is inactive initially, and the Motor starts homing in negative direction at high speed.
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 changes to run in
