CS3E Series EtherCAT Closed Loop Stepper Drive User Manual
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Figure 7-8 Method 8
Method 9:
If the motor starting point is in the OFF state of HOME-SWITCH and Positive Limit , it will move
toward positive direction at Fast Homing Velocity (6099-01h), and have a deceleration stop after leaving
HOME-SWITCH, then move toward negative direction at Low Homing Velocity (6099-02h) and motion
stops at the first effective Z signal during the ON state of HOME-SWITCH, as shown in Situation A of
Figure 7-9.
If the motor starting point is in the ON state of HOME-SWITCH and OFF state of Positive Limit, it will
move toward positive direction at Fast Homing Velocity, and have a deceleration stop after leaving
HOME-SWITCH, then move toward negative direction at Low Homing Velocity, the motion stops at the
first effective Z signal during the ON state of HOME-SWITCH, as shown in Situation B of Figure 7-9.
If the motor starting point is in the OFF state of HOME-SWITCH and Positive Limit, it will move toward
positive direction at Fast Homing Velocity until the Positive Limit goes ON to have a quick stop, then
moves toward negative direction at Low Homing Velocity and motion stops at the first effective Z signal
during the ON state of HOME-SWITCH, as shown in Situation C of Figure 7-9.
If the Negative Limit signal goes ON during homing motion, bit 13 of Status Word (6041h) will be set, it
indicates an error in the homing motion.and the motor will stop immediately.
Figure 7-9 Method 9
