The Commander series has thirteen (13) different built-in home search routines. 

Commander controllers utilize 13 homing search methods, home limit, end of travel limit, or Z-index pulse, or combinations to complete a homing operation. Homing is used to establish a zero point, or home, as a reference for absolute motion actions. Some homing methods stop in a non-zero position, using the position at which the home, end of travel, or Z-index pulse triggers as the zero-reference position. By default, the homing modes move using the high-speed operation. Low-speed versions are available by adding 16 to the homing mode.

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, ○ indicates input optional.

Homing Mode

Home

End Limits

Z-index

Slow Down

Approaches Home at

Direction to Trigger Zero

Ending Point

High Speed Homing

Low Speed Homing

High Speed

Low Speed

Mode 0

●



○

H


Dir of Home

Non-Zero

0

16

Mode 1

●



○


L

Dir of Home

Zero

1

17

Mode 2

●


●

○


L

Dir of Home

Zero

2

18

Mode 3

●


●

○

H


Dir of Home

Non-Zero

3

19

Mode 4

●


●

○


L

Reverse Dir

Zero

4

20

Mode 5

●


●

○

H


Reverse Dir

Non-Zero

5

21

Mode 6


●


○

H


Reverse Dir

Zero

6

22

Mode 7


●

●

○


L

Reverse Dir

Zero

7

23

Mode 8


●

●

○

H


Reverse Dir

Non-Zero

8

24

Mode 9

●



○

H


Reverse Dir

Zero

9

25

Mode 10

●


●

○

H


Reverse Dir

Zero

10

26

Mode 11

●


●

○

H


Dir of Home

Zero

11

27

Mode 12


●

●

○

H


Dir of Home

Zero

12

28

Consider the system mechanics when setting up limit switches, using precaution to set the limits for the appropriate axis movement and consider the deceleration distance when establishing end of travel limits relative to the hard stop positions. 

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.

More information on the homing modes can be found in Section 5.5.5.1.1 of the PCL6046 users manual.