Homing mode 7 is similar to homing mode 6, except it reverses until it locates the Z-index pulse after encountering the end of travel limit switch. Once the Z-index is reached, homing is completed.

Homing Mode

Home Limit

End Limits

Z-index

Slow Down

Approaches Home at

Direction to Trigger Zero

Ending Point

High Speed

Low Speed

Mode 7


●

●

○


L

Reverse Dir

Zero


Operation 1:

  1. Homing operation is started, accelerate from LSPD to HSPD.
  2. Immediate stop when the end of travel limit switch is encountered.
  3. Reverse direction at LSPD until specified number of Z-Index pulses are counted (ZCNT).
  4. Operation stopped immediately and homing operation is completed, zero position is set.
  5. ERC pulse is sent.


Note:  When utilizing the end travel limits, the ERC command will clear the end-of-travel limit flag in the direction of the home during the homing operation. Refer to ERC command in the Command Reference for further details.


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