Homing mode 3 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.


Homing Mode

Home Limit

End Limits

Z-index

Slow Down

Approaches Home at

Direction to Trigger Zero

Ending Point

High Speed

Low Speed

Mode 3

●


●

○

H


Dir of Home

Non-Zero


Operation 1

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


Homing mode 19, Homing mode 3 at low-speed

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

Homing mode 19 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.