CS3E-E Series EtherCAT Closed Loop stepper drive User Manual
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Appendix A: Homing Methods
The CS3E-E series drives support homing method -1,-2,1 - 14,17 - 34,and method 35 & 37. Specific definition and
the process of homing methods described below.
Z Signal: Index signal,Bit31 of Object 60FDh set to 1;
Stalling Signal:
After the motor is stalled, if the position error is greater than the value of Object 22EFh (default =
2000 ), the stalling signal is triggered (bit1 of Object 5000+04h set to 1);
Zero Position: a fixed position on the machine can correspond to a definite digital input signal, or to a Z signal
Zero Point of Machine: mechanical absolute zero position
Home offset: difference between zero position and zero point of machine,the value of Object 607Ch
(default =
0 ),
,Zero position= zero point + home offset
Home Switch: homing switch input signal
Negative Limit: negative limit switch input signal
Positive Limit: positive limit switch input signal
Method -1 requires Z signal and Stalling Signal.
During the motor running in negative direction, when reaching the stalling signal, it will slow down and
stop, then run in reverse, at last stops immediately when reaching the first Z signal. ( Z signal as the zero
position)
Method -1
Method -2 requires Z signal and Stalling Signal.
During the motor running in positive direction, when reaching the stalling signal, it will slow down and
stop, then run in reverse, at last stops immediately when reaching the first Z signal. ( Z signal as the zero
position)
Method -2
