Homing mode 6 uses the end of travel limit switch to trigger home location. The end limit is encountered and the motor reverses off the end of travel limit at a lower speed and sets home position.

Applies to: CMD-4CR, CMD-4EX-SA, CMD-4EX-SA, CMD-4ET-SA, CMD-2ED-SA, CMD-2EX-SA

Homing Mode

Home Limit

End Limits

Z-index

Slow Down

Approaches Home at

Direction to Trigger Zero

Ending Point

High Speed

Low Speed

Mode 6


●


○

H


Reverse Dir

Zero


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 at LSPD until end limit switch turns off.
  4. Operation stopped immediately and homing operation is completed, zero position is set.
  5. ERC pulse is sent.

Note: When utilizing the end travel limits, the ERC command clears the end-of-travel limit flag in the direction of the home during the homing operation. Refer to ERC command for more details.


Homing mode 22, Homing mode 6 at low-speed

Homing mode 6 uses the end of travel limit switch to trigger home location. The end limit is encountered and the motor reverses off the end of travel limit at a lower speed and sets home position.

Applies to: CMD-4CR, CMD-4EX-SA, CMD-4EX-SA, CMD-4ET-SA, CMD-2ED-SA, CMD-2EX-SA


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 at LSPD until end limit switch turns off.
  4. Operation stopped immediately and homing operation is completed, zero position is set.
  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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