FAULHABER Motion Control Systems LM-Motors ... - MicroMo

4 Functional description4.4 Homing modeMethod 3, 4 and 19, 20Homing at a positive homing switch (positive home switch)Depending on the state of the homing switch, the drive moves in one direction or the other up tothe falling (3, 19) or rising (4, 20) edge. There is only one rising edge of the homing switch in thedirection of the upper limit switch. The polarity of the homing switch used here is simultaneously setto 1 (rising edge), regardless of the original setting in the polarity parameter of object 0x2310.191933204Home Switch20Index PulseHome Switch4Method 5, 6 and 21, 22Homing at a negative homing switch (negative home switch)Depending on the state of the homing switch, the drive moves in one direction or the other up tothe falling (5, 21) or rising (6, 22) edge. There is only one falling edge of the homing switch in thedirection of the upper limit switch. The FAULHABER HP parameter for the limit switch used is simultaneouslyset to 0 here (falling edge).Method 7 to 14 and 23 to 30Homing at homing switch (home switch)These methods use a limit switch which is only active within a defined path range. A differentiationis made between the response to the two edges.With Methods 7 to 14, after the edge has been detected, the drive continues moving up to the indexpulse at which the homing position is then set.Method 7 and 23:Homing at bottom of falling edge.Start in positive direction, if switch inactiveHome SwitchPositive Limit Switch50