Leadshine iSV2-CAN Series User Manual page 77

indicating that the homing error and the motor will stop immediately.
Start Position
Z signal
POT signal
A
B
Method 3:
If the homing switch is invalid, the motor will move in positive direction at high speed until the homing
switch signal is valid. The motor stops and starts moving at low speed in negative direction. The motor stops
after leaving the homing switch and the first encoder Z signal is valid, as shown in figure.
If the motor stops at the homing switch position when it starts to move, the motor will move in negative
direction at low speed. The motor stops after leaving the homing switch and the first encoder Z signal is valid,
as shown in figure.
If the positive/negative limit switch 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
HOME-SWITCH
A
B
Method 4:
If the homing switch is invalid, the motor will move in positive direction at low speed until the homing
switch signal is valid. The motor stops after leaving the homing switch and the first encoder Z signal is valid,
as shown in figure.
If the motor stops at the homing switch position when it starts to move, the motor will move in negative
direction at high speed until the homing switch invalid. Then the motor reverse the direction at low speed. The
motor stops after the homing switch valid and the first encoder Z signal is valid, as shown in figure.
If the positive/negative limit switch 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.
Stop Position
Stop Position
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User Manual of iSV2-CAN Servo
High speed
6099h-01h
High speed
6099h-01h
Low speed
6099h-02h
Low speed
6099h-02h