Homing mode 10 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.

This is the similar to Homing mode 3 except it returns to the encoder 0 point, after the home limit is encountered. If the system does not have an encoder, or the encoder pulse count is different from the motor pulse count, using Homing mode 3 is recommended, as Homing mode 10 will not function properly. 

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.

Homing mode 26, Homing mode 10 at low-speed

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

Homing mode 26 uses both the home limit switch and Z-index pulse. The deceleration to the home set point occurs after the move passes through the home limit switch and encounters the Z-index pulse.



Operation 1

  1. Homing operation is started,  at LSPD.
  2. Motion continues at LSPD when home limit is encountered.
  3. Continue moving at LSPD until specified number of Z-Index pulses are counted (ZCNT), zero position is set.
  4. Operation stops and is completed. 
  5. ERC pulse is sent.


More information on the homing modes can be found in Section 5.5.5.1.1 of the PCL6046 users manual


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