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50 SM-EtherCAT User Guide
www.controltechniques.com Issue Number: 2
using methods 11 to 14 the initial direction of movement shall be to the left except if the
home switch is active at the start of the motion. In this case the initial direction of motion
shall be dependent on the edge being sought. The home position shall be at the index
pulse on either side of the rising or falling edges of the home switch, as shown in
Figure
7-7 Homing on home switch and index pulse - positive initial motion on page 50 and
Figure 7-8 Homing on home switch and index pulse - negative initial motion on page
50. If the initial direction of movement leads away from the home switch, the drive shall
reverse on encountering the relevant limit switch.
Figure 7-7 Homing on home switch and index pulse - positive initial motion
Figure 7-8 Homing on home switch and index pulse - negative initial motion