HOME, H – Homing
Homing is a built in process by which the controller moves the motor while using the home, limit, slowdown, or Z-index inputs to determine the zero-reference position (home point). This point is used as the reference for all subsequent moves.
The Performax series has five (5) different built-in home search routines.
For more information about homing routines available on the Performax series, see Home modes – Performax.
The Commander series has thirteen built-in home search routines.
For more information about homing routines available on the Commander series, see Home modes – Commander.6
See Home mode Cross reference for a cross reference between the Performax and Commander series homing modes.
Homing Mode Actions
This section will review the actions of each homing mode for the Performax and Commander series of controllers .
Performax
The Performax series has five (5) different built-in home search routines.
The charts below indicates which type of limits are used in each mode, along with home approach speed and direction and end-point status.
● indicates input required, ○ indicates input optional.
Applies to: CMD-2ED-SA, CMD-2EX-SA
The chart below indicates which type of limits are used in each mode, along with home approach speed and direction and end-point status.
● indicates input required.
|
Homing Mode |
Home |
End Limits |
Z-index |
Slow Down |
Approaches Home at |
Direction to Trigger Zero |
Ending Point |
||
|
ASCII |
Standalone |
||||||||
|
High Speed |
Low Speed |
||||||||
|
HOME[axis][+/-] |
● |
|
|
|
H |
|
Dir of Home |
Non-Zero |
|
|
LHOME[axis][+/-] |
|
● |
|
|
|
L |
Dir of Home |
Zero |
|
|
ZH[axis][+/-] |
ZHOME[axis][+/-] |
● |
|
● |
|
|
L |
Dir of Home |
Zero |
|
Z[axis][+/-] |
ZOME[axis][+/-] |
|
|
● |
|
H |
|
Dir of Home |
Non-Zero |
|
HL[axis][+/-] |
HLOME[axis][+/-] |
● |
● |
|
|
|
L |
Reverse Dir |
Zero |
ASCII [mode][axis][dir]
Standalone [mode][axis][dir]
Syntax
Write
ASCII [mode][axis][dir]
Standalone [mode][axis][dir]
|
Where: [mode] specifies the homing to be used [ASCII] (H, L, ZH, Z, HL), [Standalone] (HOME, LHOME, ZHOME, ZOME, HLOME) [axis] specifies the axis to be homed (X, Y, Z, U) |
Reply
Command is accepted and executed
Write
OK
Command cannot be processed
An error message is returned. See Error Codes
Example
Write HX+ * Starts moving the X axis in the + using the Home Input only mode
ZHZ- * Starts moving the Z axis in the – using the Home Input and Z-index mode
Notes
See detailed information on inputs, timing, for each homing mode, see its individual page.
Reply
Command is accepted and executed
Write
OK
Command cannot be processed
An error message is returned. See Error Codes
Example
Write HX+ * Starts moving the X axis in the + using the Home Input only mode
ZHZ- * Starts moving the Z axis in the – using the Home Input and Z-index mode
Applies to: CMD-4CR, CMD-4EX-SA, CMD-2ED-SA, CMD-2EX
ASCII H
Standalone HOME
Syntax
Write
ASCII
H[axis][dir][mode] Each target potion must be separated by the ":" character
Standalone
HOME[axis][dir][mode] There is so separation between each target potion
|
Where: [axis] specifies the axis to be homed (X, Y, Z, U) |
|
[rmg] |
HSPD Value |
Minimum LSPD Value |
Magnification |
|
1 |
1 – 65,000 |
1 |
1 |
|
2 |
65,000 – 130,000 |
2 |
2 |
|
3 |
130,000 – 325,000 |
5 |
5 |
|
4 |
325,000 – 650,000 |
10 |
10 |
|
5 |
650,000 – 1,300,000 |
20 |
20 |
|
6 |
1,300,000 – 3,200,000 |
50 |
50 |
|
7 |
3,200,000 – 6,000,000 |
100 |
100 |
Reply
Command is accepted and executed
Write
OK
Command cannot be processed
An error message is returned. See Error Codes
Example
Read SSPDMX * returns the speed range value code (rmg – see Chart above)
Write SSPDM=5 * Sets the speed range value to 20x magnification (rmg=5)
Notes
- The SSPDM[axis] setting will limit the maximum speed available for the HSPD[axis] according to the speed range table listed above. If the SSPDM is set for a lower speed range than the value for the HSPD command, the actual high-speed operation will be limited to the top value of the set range.
- The speed range must be set prior to issuing the SSPD command if the new speed value is in a different range than what is already set. Otherwise, an ?Error SSPD will be indicated.
See also
Home mode Cross reference