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44 MDrivePlus CANopen R020507
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 position of home is at the first index pulse to the left of the position where the positive limit
switch becomes inactive.
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 switch 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 state of the home switch.
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 switch 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 state of the home switch.
Axis Direction
2
Index Pulse
Positive Limit Switch
Figure 7.4: Homing on the Positive Limit and Index Pulse
3
3
Index Pulse
Home Switch
4
4
Figure 7.5: Homing on the Positive Home Switch and Index Pulse