In homing mode 5, the home limit switch initiates a full reversal from high speed in the initial direction to high speed in the reverse direction. Homing is completed when the Z-index pulse is encountered and the motion comes to a stop.

Homing Mode

Home Limit

End Limits

Z-index

Slow Down

Approaches Home at

Direction to Trigger Zero

Ending Point

High Speed

Low Speed

Mode 5

●


●

○

H


Reverse Dir

Non-Zero


Operation 1:

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