Leadshine iSV2-CAN Series User Manual page 76

Start Position
Z signal
：
Method -1 Search the homing point with low speed positive direction, when the torque reached then reverse
the direction, when the torque is gone and Z signal coming then stop immediately.
Start Position
Z signal
Method 1:
If the negative limit switch is invalid, the motor will move in negative direction at high speed until the
negative limit switch signal is valid. The motor stops and starts moving at low speed in positive direction. The
motor stops after leaving the negative limit switch and the first encoder Z signal is valid, as shown in figure.
If the motor stops at the negative limit position when it starts to move, the motor will move in positive
direction at low speed. The motor stops after leaving the negative limit switch and the first encoder Z signal is
valid, as shown in figure.
If the positive limit signal is valid during the homing process, the status word (6041h) bit 13 will be valid,
indicating that the homing error and the motor will stop immediately.
Start Position
Z signal
NOT signal
A
B
Method 2:
If the positive limit switch is invalid, the motor will move in positive direction at high speed until the
positive limit switch signal is valid. The motor stops and starts moving at low speed in negative direction. The
motor stops after leaving the positive limit switch and the first encoder Z signal is valid, as shown in figure.
If the motor stops at the positive limit position when it starts to move, the motor will move in negative
direction at low speed. The motor stops after leaving the positive limit switch and the first encoder Z signal is
valid, as shown in figure.
If the negative limit signal is valid during the homing process, the status word (6041h) bit 13 will be valid,
Stop Position
Stop Position
Stop Position
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76
User Manual of iSV2-CAN Servo
High speed
6099h-01h
High speed
6099h-01h
High speed
6099h-01h
Low speed
6099h-02h
Low speed
6099h-02h
Low speed
6099h-02h