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Chapter 5 CiA402 Drive Profile R1-EC5621 User Guide

5-8 October, 2014

Methods 15 and 16: Reserved

These methods are reserved for future expiation application of the homing mode.

Methods 17 ~ 30: Homing without an index pulse

These methods are similar to methods 1 to 14 except that the home position is not

dependent on the index pulse but only dependent on the relevant home or limit switch

transitions. For example, methods 19 and 20 are similar to methods 3 and 4 as shown in

Figure 5.10.

Figure 5.10

Methods 31 and 32: Reserved

These methods are reserved for future expansion application of the homing mode.

Methods 33 and 34: Homing on the index pulse

Using methods 33 or 34 the direction of homing is negative or positive respectively. The

home position is at the index pulse found in the selected direction.

Figure 5.11

Method 35: Homing on current position

Method 35 the current position is taken to be the home position.