LS ELECTRIC L7NHF Series, User Manual

Page: 95 / 409

4. CiA402 Drive Profile
4-27

Methods 7, 8, 9, and 10
Index pulse
Home switch
8
10
7
9
7 10
9 8
7
8 9
10
Positive limit switch
(POT)
Negative (CW) Positive (CCW)
0x6099:01 Speed during search for switch
0x6099:02 Speed during search for Zero
For homing using the homing method 7, the velocity profile according to the sequence is as follows.
The sequence varies depending on the relationship between the load position and the home switch
during homing, which is categorized into three cases as below. For more information, see the details
below:
(1) At the start of homing, when the Home switch is off and the limit is not met during
operation
Speed
Time
Positive home switch
ON
Index Pulse
(A) (B) (C)
Homing Method ⑦
Zero search speed
(0x6099:02)
Switch search speed
(0x6099:01)
(A) The initial driving direction is positive (CCW), and the drive operates at the switch search speed.
(B) When the Positive Home switch is turned on, the drive will decelerate to zero search speed, and then switch to the
negative direction (CW).
(C) While operating at the zero search speed, the drive detects the first index pulse to move to the index position (Home).