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Chapter 5 CiA402 Drive Profile R1-EC5621 User Guide

5-6 October, 2014

Methods 3 and 4: Homing on the positive home switch and index pulse

Using methods 3 or 4 the initial direction of movement is dependent on the state of the

home switch. The home position is at the index pulse to either to the left or the right of the

point where the home changes state. If the initial position is sited so that the direction of

movement must reverse during homing, the point at which the reversal takes place is

anywhere after a change of sate of the home switch.

Figure 5.6

Methods 5 and 6: Homing on the negative home switch and index pulse

Using methods 5 or 6 the initial direction of movement is dependent on the state of the

home switch. The home position is at the index pulse to either to the left or the right of the

point where the home changes state. If the initial position is sited so that the direction of

movement must reverse during homing, the point at which the reversal takes place is

anywhere after a change of sate of the home switch.

Figure 5.7