LS ELECTRIC L7NHF Series, User Manual

Page: 94 / 409

4. CiA402 Drive Profile
4-26

Homing Methods 1 and 2
Positive (CCW) Negative (CW)
Index pulse
Negative limit switch
(NOT)
1
Positive limit switch
(POT)
2
0x6099:01 Speed during search for switch
0x6099:02 Speed during search for Zero
For homing using the homing method 1, the velocity profile according to the sequence is as follows.
See the details below:
Speed
Negative limit switch
ON
Index Pulse
Zero search speed
(0x6099:02)
Switch search speed
(0x6099:01)
(A) (B) (C)
Homing Method ①
Time
(A) The initial driving direction is negative (CW), and the drive operates at the switch search speed.
(B) When the negative limit switch (NOT) is turned on, the drive switches to the positive direction (CCW), decelerating to zero
search speed.
(C) While operating at the zero search speed, the drive detects the first index pulse to move to the index position (Home).