Fastech Ezi-SERVOII, User Manual, Page: 54 / 108

4. CiA402 Drive Profile
Homing method Name
1 Homing on Negative Limit Switch and Index Pulse
2 Homing on Positive Limit Switch and Index Pulse
7 Homing on Origin Switch (Positive Direction, Negative Edge) and Index Pulse
11 Homing on Origin Switch (Negative Direction, Positive Edge) and Index Pulse
17 Homing on Negative Limit Switch
18 Homing on Positive Limit Switch
24 Homing on Origin Switch (Positive Direction, Negative Edge)
28 Homing on Origin Switch (Negative Direction, Positive Edge)
33 Homing Index Pulse (Negative Direction)
34 Homing Index Pulse (Positive Direction)
35 Set the current position origin
37 Set the current position origin and reset current position
-3 Homing on Negative Limit touch
-4 Homing on Positive Limit touch
-5 Homing on Negative Limit touch and Index Pulse
-6 Homing on Positive Limit touch and Index Pulse
Table 4.23: Homing Method List
Supported origin searching method lists can be also checked from Supported homing methods (60E3h).
In the description below, ’Index pulse’ refers to the Z-Phase singal of the encoder.
Method 1: Homing on Negative Limit Switch and Index Pulse
Figure 4.10: Homing Method 1
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.
54