Home Mode 0 is available with Slow Down (SD) switch or without SD switch, and is available with low-speed operation mode 16 on the Commander series.

Homing mode 0 without Slow Down (SD) is disabled.   

Applies to: All Commander Controllers

This homing method works with a home limit switch input and sets home when the motion stops after the home limit switch is encountered.

Series

Homing Mode

Home Limit

End Limits

Z-index

Slow Down

Approaches Home at

Direction to Trigger Zero

Ending Point

High Speed

Low Speed

All Commander Controllers

Mode 0

●



○

H


Dir of Home

Non-Zero

CMD-2ED-SA

CMD-2EX-SA

H[axis][+/-]

●




H


Dir of Home

Non-Zero


Operation 1

  1. Homing is started toward home switch, accelerate from LSPD to HSPD.
  2. Deceleration starts when the home (ORG) input point is detected, zero position is set.
  3. Homing is complete when deceleration stops.
  4. ERC pulse is sent. (CMD only)

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.

Homing mode 0 with Slow Down (SD) enabled 

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

In this homing mode, an input first triggers a deceleration to a lower speed point and then stops and sets home as the home limit switch is reached.

Homing Mode

Home Limit

End Limits

Z-index

Slow Down

Approaches Home at

Direction to Trigger Zero

Ending Point

High Speed

Low Speed

Mode 0

●



●


L

Dir of Home

Non-Zero


Operation 1

  1. Homing is started toward home switch, accelerate from LSPD to HSPD.
  2. Deceleration starts to LSPD when the SD input point is detected, continue towards home.
  3. Stop when home input is detected, homing complete.
  4. ERC pulse is sent.

Operation 2

  1. Homing is started while SD input is activated.
  2. Continue traveling at LSPD towards home input.
  3. Stop when home input is detected, zero position is set, homing complete.
  4. ERC pulse is sent.

Operation 3

  1. Homing is started while SD input is activated and is moving away from the home input switch.
  2. Travel at LSPD until SD input is deactivated, then accelerate from LSPD to HSPD.
  3. End limit is encountered, immediate stop.

Operation 4

  1. Homing is started moving away from the home input switch and SD limit is deactivated.
  2. Acceleration from LSPD to HSPD.
  3. End limit is encountered, immediate stop.

Homing mode 16 (Homing mode 0 at low-speed)

Applies to: CMD-4CR, CMD-4EX-SA V129+

This homing method works with a home limit switch input and sets home when the motion stops after the home limit switch is 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 16

●



●


L

Dir of Home

Non-Zero



Operation 1

  1. Homing is started toward home switch, at LSPD.
  2. Motion stops when the home (ORG) input point is detected, zero position is set.
  3. Homing is complete when motion stops.
  4. ERC pulse is sent. (CMD only)

Operation 2

  1. Homing is started while home input is activated.
  2. Motion is at LSPD.
  3. End limit is encountered, immediate stop.

Operation 3

  1. Homing is started moving away from the home input switch.
  2. Motion is at LSPD.
  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.