Homing Mode 9

Homing Mode 9 uses the home limit switch to initiate a deceleration, then continues with a quick index back to the position where the home limit 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 9

●



○

H


Reverse Dir

Zero


Operation 1:

  1. Homing operation is started, accelerate from LSPD to HSPD.
  2. Deceleration begins as the home limit switch is encountered and zero position is set.
  3. Begin zero-point return operation back to home position at the end of deceleration, accelerate from LSPD to HSPD.
  4. Homing operation is completed when the 0 position is reached.
  5. 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.