LS ELECTRIC L7NHF Series, User Manual

Page: 103 / 409

4. CiA402 Drive Profile
4-35

Method -3 and -4
Negative Stopper
Positive Stopper
-3
-4
0x6099:01 Speed during search for switch
0x6099:02 Speed during search for Zero
Negative (CW) Positive (CCW)
Homing methods -3 and -4 only use the stopper to perform homing. The velocity profile according to
sequence is as follows. For more information, see the details below:
Speed
Negative Stopper
(A) (B)
Homing Method
Time
Torque setting
0x2409
Time setting
0x240A
-3
Switch search speed
(0x60999:01)
Homing completion
(A) The initial driving direction is negative (CW), and the drive operates at the switch search speed.
(B) When the drive hits the negative stopper, it stands by according to the torque limit value (0x2409) and the time setting
value (0x240A) at the time of homing using the stopper and finishes homing.
Speed
Time
Positive Stopper
(A) (B)
Homing Method
Torque setting
(0x2409)
Time setting
(0x240A)
-4
Switch search speed
(0x60999:01)
Homing completion
(A) The initial driving direction is positive (CCW), and the drive operates at the switch search speed.
(B) When the drive hits the positive stopper, it stands by according to the torque limit value (0x2409) and the time setting
value (0x240A) at the time of homing using the stopper and finishes homing.