4. CiA402 Drive Profile
Method 11: Homing on Origin Switch (Negative Direction, Positive Edge) and Index Pulse
Figure 4.13: Homing Method 11
In this homing method, it start to move in the negative direction and the speed is Speed during search
for switch (6099h, Sub-Index 1), until Origin Switch is detected. If a Negative Limit Switch is detected, it
moves in the opposite direction until the Origin Switch is detected.
When a Origin Switch is detected, it moves out of the Origin Switch at the speed of Speed during search
for zero (6099h, Sub-Index 2) in the positive direction and moves in the opposite direction to detect the
Origin Switch again.
Then, it moves in the positive direction until Index Pulse is detected, and sets that position as sensor
origin position.
Method 17: Homing on Negative Limit Switch
Figure 4.14: Homing Method 17
In this homing method, it start to move in the negative direction and the speed is Speed during search
for switch (6099h, Sub-Index 1), until Negative Limit Switch is detected.
When a Negative Limit Switch is detected, it moves out of the Limit Switch at the speed of Speed during
search for zero (6099h, Sub-Index 2) in the positive direction and moves in the opposite direction to
detect the Limit Switch again.
Then, it moves in the positive direction until Index Pulse is detected, and sets that position as sensor
origin position.
Rev.37
FASTECH Co., Ltd.
56
Summary of Contents for Ezi-SERVOII EtherCAT TO
Page 10: ...Chapter 1 Product Specification Rev 37 FASTECH Co Ltd 10...
Page 12: ...1 Product Specification 1 2 Product Dimension Figure 1 2 Dimensions Rev 37 FASTECH Co Ltd 12...
Page 15: ...Chapter 2 Installation Rev 37 FASTECH Co Ltd 15...
Page 29: ...Chapter 3 EtherCAT Communication Rev 37 FASTECH Co Ltd 29...
Page 35: ...Chapter 4 CiA402 Drive Profile Rev 37 FASTECH Co Ltd 35...
Page 67: ...Chapter 5 Operation Rev 37 FASTECH Co Ltd 67...
Page 71: ...Chapter 6 EtherCAT Object Dictionary Rev 37 FASTECH Co Ltd 71...
