This Home Mode is available with low-speed operation mode 17 on the Commander series.


Applies to: CMD-4CR, CMD-4EX-SA


This homing method decelerates when it first encounters the home limit switch, reverses direction to back off the limit switch, and then approaches the home limit switch again at a lower speed point and sets home when the home limit switch is encountered a second time.

Homing Mode

Home Limit

End Limits

Z-index

Slow Down

Approaches Home at

Direction to Trigger Zero

Ending Point

High Speed

Low Speed

Mode 1

●



○


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. Reverse direction at move at LSPD towards home limit.
  4. Move at LSPD until home limit is turned off and reverse direction.
  5. Operation stops when home limit is encountered again, 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.


More information on the homing modes can be found in Section 9-5-1 of the PCL6045BL users manual. 


Homing mode 17, Homing mode 1 at low-speed


Applies to: CMD-4CR, CMD-4EX-SA V129+


This homing method stops when it first encounters the home limit switch, reverses direction to back off the limit switch, and then approaches the home limit switch again at a lower speed point and sets home when the home limit switch is encountered a second time.

Homing Mode

Home Limit

End Limits

Z-index

Slow Down

Approaches Home at

Direction to Trigger Zero

Ending Point

High Speed

Low Speed

Mode 17

●



○


L

Dir of Home

Zero



Operation 1:

  1. Homing operation is started at LSPD
  2. Motion stops when home limit is encountered.
  3. Reverse direction at move at LSPD towards home limit.
  4. Move at LSPD until home limit is turned off and reverse direction.
  5. Operation stops when home limit is encountered again, zero position is set.
  6. ERC pulse is sent.

Operation 2:

  1. Homing is started while home input is activated.
  2. Motion starts at LSPD.
  3. End limit is encountered, immediate stop.

Operation 3:

  1. Homing is started moving away from the home input switch.
  2. Motion starts at LSPD.
  3. End limit is encountered, immediate stop.


More information on the homing modes can be found in Section 9-5-1 of the PCL6045BL users manual.