Homing mode 12 is similar to homing mode 11, except it utilizes the end of travel limit to initiate an immediate stop before it makes a fast move back to the Z-index pulse, where a quick index reverses motion back to the position where the Z-index pulse was encountered.

This is the similar to Homing mode 8 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 8 is recommended, as Homing mode 12 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 12


●

●

○

H


Dir of Home

Zero


Operation 1

  1. Homing operation is started, accelerate from LSPD to HSPD.
  2. Immediate stop on encountering end of travel limit switch.
  3. Reverse direction, accelerating from LSPD to HSPD.
  4. Deceleration begins when specified number of Z-index pulses is encountered (ZCNT), zero position is set.
  5. 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.
  6. Homing is completed when the 0 position is reached.
  7. ERC pulse is sent.

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 28, Homing mode 12 at low-speed

In homing mode 28, the end of travel limit switch triggers an immediate stop and then full reversal at high speed until Z-index is encountered and zero position is set. At this point the motor decelerates and stops.


Operation 1

  1. Homing operation is started, accelerate from LSPD to HSPD.
  2. Immediate stop when the end of travel limit switch is encountered.
  3. Reverse direction accelerating from LSPD to HSPD and move until specified number of Z-Index pulses are counted (ZCNT).
  4. As the specified number of Z-index pulses is encountered, zero position is set and deceleration to LSPD begins.
  5. Homing operation is completed by deceleration and stop.
  6. 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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