For homing mode 4, the motor decelerates upon reaching the home limit switch and reverses direction upon reaching the lower speed point. Home is set when the Z-index pulse is encountered.

Homing Mode

Home Limit

End Limits

Z-index

Slow Down

Approaches Home at

Direction to Trigger Zero

Ending Point

High Speed

Low Speed

Mode 4

●


●

○


L

Reverse Dir

Zero


Operation 1:

  1. Homing operation is started, accelerate from LSPD to HSPD.
  2. Begin deceleration after home limit is encountered.
  3. Reverse direction at LSPD after deceleration complete.
  4. Continue moving at LSPD until specified number of Z-index pulses are counted (ZCNT).
  5. Operation stops and is completed; zero position is set.
  6. 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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