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R1-EC5621 User Guide Chapter 5 CiA402 Drive Profile

October, 2014 5-7

Methods 7 ~ 14: Homing on the home switch and index pulse

These methods use a home switch which is active over only portion of the travel; in effect

the switch has a ‘momentary’ action as the axle’s position sweeps past the switch.

Using methods 7 to 10 the initial direction of movement is to the right, and using methods

11 to 14 the initial direction of movement is to the left except if the home switch is active at

the start of the motion. I

In this case the initial direction of motion is dependent on the edge being sought. The home

position is at the index pulse on either side of the rising or falling edges of the home switch,

as shown in the following two diagrams. If the initial direction of movement leads away from

the home switch, the drive must reverse on encountering the relevant limit switch.

Figure 5.8

Figure 5.9