Homing Mode 10

Homing mode 10 is similar to homing mode 3 as it uses both the home limit switch and Z-index pulse. Deceleration occurs after the move passes through the home limit switch and encounters the Z-index pulse. The operation continues with a quick index back to the position where the Z-index pulse was encountered.

Homing Mode

Home Limit

End Limits

Z-index

Slow Down

Approaches Home at

Direction to Trigger Zero

Ending Point

High Speed

Low Speed

Mode 10

●


●

○

H


Reverse Dir

Zero


Operation 1:

  1. Homing operation is started, accelerate from LSPD to HSPD.
  2. Continue moving at HSPD as the home limit switch is encountered.
  3. Deceleration begins when specified number of Z-index-pulses is encountered (ZCNT), zero set.
  4. At end of deceleration, a zero-point return operation begins to the position where Z-index pulse was encountered, accelerating from LSPD to HSPD and decelerating and stopping at 0 position.
  5. Homing is completed when the 0 position is reached.
  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.

NOTE: For homing modes 9 – 12, encoder feedback is required.  When using a stepper motor and homing with modes 9 – 12, an encoder is required and the command pulse count and encoder pulse count must be equal.



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