Emerson SI-EtherCAT User Manual page 65

Method 5 and 6: Homing on negative home switch and index pulse
Using these methods as shown in Figure 7-4 Homing on negative home switch and index pulse on
page 65, the initial direction of movement shall be dependent on the state of the home switch. The
home position shall be at the index pulse 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 shall reverse
during homing, the point at which the reversal takes place is anywhere after a change of state of the
home switch.
Figure 7-4 Homing on negative home switch and index pulse
Method 7 to 14: Homing on home switch and index pulse
These methods use a home switch, which is active over only a portion of the travel; in effect the
switch has a 'momentary' action as the axis's position sweeps past the switch. Using the methods 7
to 10, the initial direction of movement shall be to the right, and 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 7-5 Homing on home switch and index pulse - positive initial motion on
page 66 and Figure 7-6 Homing on home switch and index pulse - negative initial motion on page
66. If the initial direction of movement leads away from the home switch, the drive shall reverse on
encountering the relevant limit switch.
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SI-EtherCAT User Guide
Issue Number: 2