14.4 Homing
14.4.2 Homing Method (6098h)
14-15
14
CiA402 Drive Pr
ofile
2
Homing with the posi-
tive limit switch and
index pulse
With this method, homing starts in the positive direction if the positive
limit switch is inactive. The home position is the first index pulse that is
detected after the positive limit switch becomes inactive.
7 to 10
Homing with the home
switch input (/Home)
signal and index pulse
and starting in the
positive direction
With methods 7 to 10, homing starts in the positive direction. However,
if the /Home signal is already active when homing is started, the initial
homing direction depends on the required edge.
The home position will be the index pulse on either the rising or falling
edge side of the /Home signal.
If the initial movement direction is away from the /Home signal, the
motor will reverse direction when the limit switch in the movement direc-
tion is input.
11 to 14
Homing with the home
switch input (/Home)
signal and index pulse
and starting in the
negative direction
These methods are similar to methods 7 to 10 except that homing starts
in the negative direction.
Continued on next page.
Continued from previous page.
Value
Definition
Description
Index pulse
Positive limit switch
(P-OT)
2
8
7
7
8
7
8
9
9
10
9
10
10
Index pulse
Positive limit switch
(P-OT)
/Home signal
14
Index pulse
Negative limit switch
(N-OT)
/Home signal
14
14
13
13
13
12
12
12
11
11
11
