Homing Mode 9 uses the home limit switch to initiate a deceleration, then continues with a quick index back to the position where the home limit was encountered.

  • This is the similar to Homing mode 0 except it returns to the encoder 0 point, after the home limit is encountered. If your system does not have an encoder, or the encoder pulse count is different from the motor pulse count, it is suggested that you use Homing mode 0, as Homing mode 9 will not function properly. 

Homing Mode

Home Limit

End Limits

Z-index

Slow Down

Approaches Home at

Direction to Trigger Zero

Ending Point

High Speed

Low Speed

Mode 9

●



○

H


Reverse Dir

Zero


Operation 1:

  1. Homing operation is started, accelerate from LSPD to HSPD.
  2. Deceleration begins as the home limit switch is encountered and zero position is set.
  3. Begin zero-point return operation back to home position at the end of deceleration, accelerate from LSPD to HSPD.
  4. Homing operation is completed when the 0 position is reached.
  5. ERC pulse is sent.


Operation 2:

  1. Homing is started while home input is activated.
  2. Acceleration from LSPD to HSPD.
  3. End limit is encountered, immediate stop.


Operation 3:

  1. Homing is started moving away from the home input switch.
  2. Acceleration from LSPD to HSPD.
  3. End limit is encountered, immediate stop.


Note: For homing modes 9 – 12, encoder feedback is required.  When using a stepper motor and homing with modes 9 – 12, an encoder is required and the command pulse count and encoder pulse count must be equal.


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