Festo CiA 402 Manual page 112

6 Operating modes
Index pulse
Positive limit switch
Fig. 6.8 Homing to the positive limit switch with evaluation of the zero pulse
Method 17: Homing to the negative limit switch
With this method, the drive initially moves relatively quickly in the negative direction until it reaches the
negative limit switch. This is represented in the graph by the rising edge. The drive then moves back
slowly and searches for the precise position of the limit switch. The zero position refers to the falling
edge of the negative limit switch.
Negative limit switch
Fig. 6.9 Homing to the negative limit switch
Method 18: Homing to the positive limit switch
With this method, the drive initially moves relatively quickly in the positive direction until it reaches the
positive limit switch. This is represented in the graph by the rising edge. The drive then moves back
slowly and searches for the precise position of the limit switch. The zero position refers to the falling
edge of the positive limit switch.
Positive limit switch
Fig. 6.10 Homing to the positive limit switch
Method 33: Homing in a negative direction to the zero pulse
When using method 33, the direction of homing is negative. The zero position refers to the first zero
pulse from the angle encoder in the direction of search.
Index pulse
Fig. 6.11 Homing in a negative direction to the zero pulse
112 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English