CMD/PMX Homing Mode 2 [ZH[axis][+/-]]
This Home Mode is available with low-speed operation a mode 18 on the Commander series.
Applies to: CMD-4CR, CMD-4EX-SA
Homing method 2 utilizes both a home limit switch and the Z-index pulse of the encoder. Once the home limit switch is encountered, the motor slows to a lower speed point and sets home as it encounters the Z-index pulse.
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Series |
Homing Mode |
Home Limit |
End Limits |
Z-index |
Slow Down |
Approaches Home at |
Direction to Trigger Zero |
Ending Point |
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High Speed |
Low Speed |
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Mode 2 |
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○ |
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L |
Dir of Home |
Zero |
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PMX-2ED-SA PMX-2EX-SA |
ZH[axis][+/-] |
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Operation 1:
- Homing operation is started, accelerate from LSPD to HSPD.
- Deceleration starts when home limit is encountered.
- Continue moving at LSPD until specified number of Z-Index pulses are counted (ZCNT), zero position is set.
- Operation stops and is completed.
- ERC pulse is sent.
Operation 2:
- Homing is started while home input is activated.
- Acceleration from LSPD to HSPD.
- End limit is encountered, immediate stop.
Operation 3:
- Homing is started moving away from the home input switch.
- Acceleration from LSPD to HSPD.
- 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 18, Homing mode 2 at low-speed
Applies to: CMD-4CR, CMD-4EX-SA V129+
Homing method 18 utilizes both a home limit switch and the Z-index pulse of the encoder. Once the home limit switch is encountered, the motor slows to a lower speed point and sets home as it encounters the Z-index pulse.
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Homing Mode |
Home Limit |
End Limits |
Z-index |
Slow Down |
Approaches Home at |
Direction to Trigger Zero |
Ending Point |
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High Speed |
Low Speed |
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Mode 18 |
● |
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● |
○ |
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L |
Dir of Home |
Zero |
Operation 1:
- Homing operation is started, at LSPD.
- Motion continues at LSPD when home limit is encountered.
- Continue moving at LSPD until specified number of Z-Index pulses are counted (ZCNT), zero position is set.
- Operation stops and is completed.
- ERC pulse is sent.
Operation 2:
- Homing is started while home input is activated.
- Motion starts at LSPD.
- End limit is encountered, immediate stop.
Operation 3:
- Homing is started moving away from the home input switch.
- Motion starts at LSPD.
- 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.