HOME, H – Homing
Starts one of the built-in homing sequences. Homing is a built in process by which the controller will move the motor while using the home, limit, slowdown, or Z-index inputs to determine the zero-reference position (home point). This point is then used as the reference for all subsequent moves.
The Performax series has five (5) different built-in home search routines.
See Home modes – Performax for more information of the homing routines available on the Performax series
The Commander series has thirteen (13) different built-in home search routines.
See Home modes – Commander for more information of the homing routines available on the Commander series
See Home mode Cross reference for a cross reference between the Performax and Commander series homing modes.
Homing Mode Actions
This section will review the actions of each homing mode for the Performax and Commander series controllers.
Performax
The Performax series has five (5) different built-in home search routines. The commands for the PMX-2ED-SA, PMX-2EX-SA are different from those of the PMX-4EX-SA, PMX-4ET-SA.
The charts below indicates which type of limits are used in each mode, along with home approach speed and direction and end-point status. ● indicates input required, ○ indicates input optional.
Applies to: PMX-2ED-SA, PMX-2EX-SA
The chart below indicates which type of limits are used in each mode, along with home approach speed and direction and end-point status. ● indicates input required.
|
Homing Mode |
Home |
End Limits |
Z-index |
Slow Down |
Approaches Home at |
Direction to Trigger Zero |
Ending Point |
||
|
ASCII |
Standalone |
||||||||
|
High Speed |
Low Speed |
||||||||
|
HOME[axis][+/-] |
● |
|
|
|
H |
|
Dir of Home |
Non-Zero |
|
|
LHOME[axis][+/-] |
|
● |
|
|
|
L |
Dir of Home |
Zero |
|
|
ZH[axis][+/-] |
ZHOME[axis][+/-] |
● |
|
● |
|
|
L |
Dir of Home |
Zero |
|
Z[axis][+/-] |
ZOME[axis][+/-] |
|
|
● |
|
H |
|
Dir of Home |
Non-Zero |
|
HL[axis][+/-] |
HLOME[axis][+/-] |
● |
● |
|
|
|
L |
Reverse Dir |
Zero |
ASCII [mode][axis][dir]
Standalone [mode][axis][dir]
Syntax:
Write:
ASCII
[mode][axis][dir]
Standalone
[mode][axis][dir]
|
Where: [mode] specifies the homing to be used [ASCII] (H, L, ZH, Z, HL), [Standalone] (HOME, LHOME, ZHOME, ZOME, HLOME) [axis] specifies the axis to be homed (X, Y, Z, U) |
Reply:
Command is accepted and executed
Write:
OK
Command cannot be processed
An error message is returned. See Error Codes
Example:
Write:
HX+ * Starts moving the X axis in the + using the Home Input only mode
ZHZ- * Starts moving the Z axis in the – using the Home Input and Z-index mode
Notes:
See detailed information on inputs, timing, for each homing mode, see its individual page.
Applies to: PMX-4EX-SA, PMX-4ET-SA
The charts below indicates which type of limits are used in each mode, along with home approach speed and direction and end-point status. ● indicates input required.
|
Homing Mode |
Home |
End Limits |
Z-index |
Slow Down |
Approaches Home at |
Direction to Trigger Zero |
Ending Point |
||
|
ASCII |
Standalone |
High Speed |
Low Speed |
||||||
|
HOME[axis][+/-] |
● |
|
|
|
H |
|
Dir of Home |
Non-Zero |
|
|
LHOME[axis][+/-] |
|
● |
|
|
|
L |
Dir of Home |
Zero |
|
|
Mode 2 |
ZHOME[axis][+/-] |
● |
|
● |
|
|
L |
Dir of Home |
Zero |
|
Mode 3 |
ZOME[axis][+/-] |
|
|
● |
|
H |
|
Dir of Home |
Non-Zero |
|
Mode 4 |
HLOME[axis][+/-] |
● |
● |
|
|
|
L |
Reverse Dir |
Zero |
ASCII H[axis][dir][mode]
Standalone [mode][axis][dir]
Syntax:
Write:
ASCII
H[axis][dir][mode]
Standalone
[mode][axis][dir]
|
Where: [mode] specifies the homing to be used [ASCII] (0 – 4), [Standalone] (HOME, LHOME, ZHOME, ZOME, HLOME) [axis] specifies the axis to be homed (X, Y, Z, U) |
Reply:
Command is accepted and executed
Write:
OK
Command cannot be processed
An error message is returned. See Error Codes
Example:
Write:
HX+ * Starts moving the X axis in the + using the Home Input only mode
ZHZ- * Starts moving the Z axis in the – using the Home Input and Z-index mode
Notes:
See detailed information on inputs and timing for each homing mode on its own command page.
Applies to: CMD-4CR, CMD-4EX-SA, PMX-4EX-SA, PMX-4ET-SA, PMX-2ED-SA, PMX-2EX
ASCII H
Standalone HOME
Syntax:
Write:
ASCII
H[axis][dir][mode] Each target potion must be separated by the ":" character
Standalone
HOME[axis][dir][mode] There is so separation between each target potion
|
Where: [axis] specifies the axis to be homed (X, Y, Z, U) |
|
[rmg] |
HSPD Value |
Minimum LSPD Value |
Magnification |
|
1 |
1 – 65,000 |
1 |
1 |
|
2 |
65,000 – 130,000 |
2 |
2 |
|
3 |
130,000 – 325,000 |
5 |
5 |
|
4 |
325,000 – 650,000 |
10 |
10 |
|
5 |
650,000 – 1,300,000 |
20 |
20 |
|
6 |
1,300,000 – 3,200,000 |
50 |
50 |
|
7 |
3,200,000 – 6,000,000 |
100 |
100 |
Reply:
Command is accepted and executed
Write:
OK
Command cannot be processed
An error message is returned. See Error Codes
Example:
Read:
SSPDMX * returns the speed range value code (rmg – see Chart above)
Write:
SSPDM=5 * Sets the speed range value to 20x magnification (rmg=5)
Notes:
- The SSPDM[axis] setting will limit the maximum speed available for the HSPD[axis] according to the speed range table listed above. If the SSPDM is set for a lower speed range than the value for the HSPD command, the actual high-speed operation will be limited to the top value of the set range.
- The speed range must be set prior to issuing the SSPD command if the new speed value is in a different range than what is already set. Otherwise, an ?Error SSPD will be indicated.
See also:
Home mode Cross reference