The current position is set as the home position. This type can be
executed not in the Operation enabled state.
The current position is set as the home position. This type can be
executed not in the Operation enabled state.
(5) CiA 402-type homing method
(a) Home position return type in CiA 402 type
The following shows the CiA 402-type home position return.
1) Method 3 and 4: Homing on positive home switch and index pulse
These home position return types use the front end of the proximity dog as reference and set the
Z-phase right before and right after the dog as a home position.
Method 3 has the operation of the dog type last Z-phase reference home position return, and
Method 4 has the operation of the dog cradle type home position return at a forward rotation start.
However, if the stroke end is detected during home position return, [AL. 90] occurs.
2) Method 5 and 6: Homing on negative home switch and index pulse
These home position return types use the front end of the proximity dog as reference and set the
Z-phase right before and right after the dog as a home position. Method 5 and 6 differ from
Method 3 and Method 4 in the starting direction: the starting direction of Method 5 and 6 is the
reversed direction.
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