4. CiA402 Drive Profile
Method -3: Homing on Negative Limit touch
This origin search method is to start toward Negative Direction and movement velocity is the value of
Speed during search for zero (6099h, Sub-Index 2). If it sense certain Load then stops and set corre-
spondent position as sensor origin position.
The level of load to be sensed is to set through Object 2014h: Homing Torque Ratio.
Method -4: Homing on Positive Limit touch
This origin search method is to start toward Positive Direction and movement velocity is the value of
Speed during search for zero (6099h, Sub-Index 2). If it sense certain Load then stops and set corre-
spondent position as sensor origin position.
The level of load to be sensed is to set through Object 2014h: Homing Torque Ratio.
Method -5: Homing on Negative Limit touch and Index Pulse
This origin search method is to start toward Positive Direction and movement velocity is the value of
Speed during search for zero (6099h, Sub-Index 2). If it sense certain Load then stops and moves to
opposite direction and movement velocity is Speed during search for zero (6099h, Sub-Index 2). Index
Pulse goes ON then stops and set correspondent position as sensor origin position.
The level of load to be sensed is to set through Object 2014h: Homing Torque Ratio.
Method -6: Homing on Positive Limit touch and Index Pulse
This origin search method is to start toward Positive Direction and movement velocity is the value of
Speed during search for zero (6099h, Sub-Index 2). If it sense certain Load then stops and moves to
opposite direction and movement velocity is Speed during search for zero (6099h, Sub-Index 2). Index
Pulse goes ON then stops and set correspondent position as sensor origin position.
The level of load to be sensed is to set through Object 2014h: Homing Torque Ratio.
Rev.37
FASTECH Co., Ltd.
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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...
