In homing mode 8, the end of travel limit switch triggers an immediate stop and then full reversal at high speed until Z-index is encountered and zero position is set. At this point the motor decelerates and stops.

Homing Mode

Home Limit

End Limits

Z-index

Slow Down

Approaches Home at

Direction to Trigger Zero

Ending Point

High Speed

Low Speed

Mode 8


●

●

○

H


Reverse Dir

Non-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 accelerating from LSPD to HSPD and move until specified number of Z-Index pulses are counted (ZCNT).
  4. As the specified number of Z-index pulses is encountered, zero position is set and deceleration to LSPD begins.
  5. Homing operation is completed by deceleration and stop.
  6. 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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