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6 SERVO MOTOR DRIVING
6.1 Homing mode (hm)
CiA 402-type homing method
Home position return type in CiA 402 type
The following shows the CiA 402-type home position return.
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Method 3 and 4: Homing on positive home switch and index pulse
These home position return types use the front end of the proximity dog as reference and set the Z-phase right before and
right after the dog as a home position.
Method 3 has the operation of the dog type last Z-phase reference home position return, and Method 4 has the operation of
the dog cradle type home position return at a forward rotation start. However, if the stroke end is detected during home
position return, [AL. 90] occurs.
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Method 5 and 6: Homing on negative home switch and index pulse
These home position return types use the front end of the proximity dog as reference and set the Z-phase right before and
right after the dog as a home position. Method 5 and 6 are the same as Method 3 and 4 except that the starting direction is
forward in Method 3 and 4, and reverse in Method 5 and 6.
3
3
4
4
Index Pulse
Home Switch
