Homing mode 2 utilizes both a home limit switch and the Z-index pulse of the encoder. Once the home limit switch is encountered, the motor slows to a lower speed point and sets home as it encounters the Z-index pulse.

Homing Mode

Home Limit

End Limits

Z-index

Slow Down

Approaches Home at

Direction to Trigger Zero

Ending Point

High Speed

Low Speed

Mode 2

●


●

○


L

Dir of Home

Zero


Operation 1:

  1. Homing operation is started, accelerate from LSPD to HSPD.
  2. Deceleration starts when home limit is encountered.
  3. Continue moving at LSPD until specified number of Z-index pulses are counted (ZCNT), zero position is set.
  4. Operation stops and is completed. 
  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.


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