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R1-EC5621 User Guide Chapter 5 CiA402 Drive Profile

October, 2014 5-5

Homing Method (6098h)

Method 1: Homing on the negative limit switch and index pulse

Using this method the initial direction of movement is leftward if the negative limit switch is

inactive (here shown as low). The home position is at the first index pulse to the right of the

position where the negative limit switch becomes inactive.

Figure 5.4

Method 2: Homing on the positive limit switch and index pulse

Using this method the initial direction of movement is rightward if the positive limit switch is

inactive (here shown as low). The home position is at the first index pulse to the left of the

position where the positive limit switch becomes inactive.

Figure 5.5