Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-23
6.5.2
Homing Methods
NOTE
In all the diagrams of this section,
H
means high speed (6099-01h) and
L
means low speed (6099-02h).
6098h = 1
Home: the Motor C-pulse signal
Deceleration point: negative limit switch (N-OT)
Deceleration point signal inactive at homing start:
Motion Profile
C-pulse signal
Negative limit switch
Negative limit switch
-H
L
The N-OT signal is inactive initially, and the Motor starts homing in negative direction at high speed.
After reaching the rising edge of the N-OT signal, the Motor decelerates and changes to run in
positive direction at low speed.
After reaching the falling edge of the N-OT signal, the Motor stops at the first Motor C-pulse signal.
Deceleration point signal active at homing start
Motion Profile
C-pulse signal
Negative limit switch
Negative limit switch
L
The N-OT signal is active initially, and the Motor directly starts homing in positive direction at low
speed.
After reaching the falling edge of the N-OT signal, the Motor stops at the first Motor C-pulse signal.
