In homing mode 11, the home limit switch is used to initiate a deceleration. The operation then continues with a fast move in the reverse direction until the Z-index pulse is encountered, where a quick index reverses motion back to the position where the Z-index pulse was encountered.

This is the similar to Homing mode 5 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 5 is recommended, as Homing mode 11 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 11

●


●

○

H


Dir of Home

Zero


Operation 1

  1. Homing operation is started, accelerate from LSPD to HSPD, then decelerate as the home limit switch is encountered.
  2. Reverse direction, accelerating from LSPD to HSPD, then decelerate when specified number of Z-indexpulses is encountered (ZCNT), zero position is set.
  3. Start a zero-point return move to the position where the Z-index pulse was encountered, accelerating from LSPD to HSPD then decelerating and stopping at 0 position.
  4. 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 27, Homing mode 11 at low-speed

In homing mode 27, the home limit switch initiates a full reversal from top speed in the initial direction to top speed in the reverse direction. Homing is completed when the Z-index pulse is encountered and the motion comes to a stop.


Operation 1

  1. Homing operation is started, accelerate from LSPD to HSPD.
  2. Begin deceleration to LSPD after home limit is encountered.
  3. Reverse direction and accelerate to HSPD.
  4. Continue moving at HSPD until specified number of Z-Index pulses are counted (ZCNT), zero position is set.
  5. Operation decelerates, stops and is completed. 
  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.


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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