4. CiA402 Drive Profile
Method 24: Homing on Origin Switch (Positive Direction, Negative Edge)
Figure 4.10: Homing Method 24
In this homing method, it start to move in the positive direction and the speed is Speed during search
for switch (6099h, Sub-Index 1), until Origin Switch is detected. If a Positive 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 negative direction and moves in the opposite direction to detect the
Origin Switch again, and sets that position as sensor origin position.
Method 28: Homing on Origin Switch (Negative Direction, Positive Edge)
Figure 4.11: Homing Method 28
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, and sets that position as sensor origin position.
Rev.37
FASTECH Co., Ltd.
47
Summary of Contents for Ezi-STEPII EtherCAT MINI
Page 10: ...Chapter 1 Product Specification Rev 37 FASTECH Co Ltd 10 ...
Page 14: ...Chapter 2 Installation Rev 37 FASTECH Co Ltd 14 ...
Page 25: ...Chapter 3 EtherCAT Communication Rev 37 FASTECH Co Ltd 25 ...
Page 31: ...Chapter 4 CiA402 Drive Profile Rev 37 FASTECH Co Ltd 31 ...
Page 55: ...Chapter 5 Operation Rev 37 FASTECH Co Ltd 55 ...
Page 59: ...Chapter 6 EtherCAT Object Dictionary Rev 37 FASTECH Co Ltd 59 ...
