User guide

Chapter 3. Basic Operation Setup 91
Homing (Using the Home Inputs)
Refer to the product's
Installation Guide for
instructions to wire
hardware home limit
switches.
The homing operation is a sequence of moves that position an axis using the Home Limit
input and/or the Z Channel input of an incremental encoder. The goal of the homing operation
is to return the load to a repeatable initial starting location.
As soon as the homing operation is successfully completed, the absolute position register is
reset to zero, thus establishing a zero reference position (this applies also to the voltage register
if using ANI feedback).
If an end-of-travel limit is encountered during the homing operation, the motion will be
reversed and the home switch will be sought in the opposite direction. If a second limit is
encountered, the homing operation will be terminated, stopping motion at the second limit.
The homing operation has several potential homing functions you can customize to suit the
needs of your application (illustrations of the effects of these commands are presented below):
Command Homing Function (see respective command descriptions for further details) Default
HOM................... Initial the homing move. To start the homing move in the positive direction,
use HOMØ; to home in the negative direction, use HOM1.
HOMx
(do not home)
HOMA................. Acceleration while homing. HOMA1Ø
(10 units/sec
2
)
HOMAA.............. S-curve acceleration while homing (servos only). HOMAA1Ø
(10 units/sec
2
)
HOMAD.............. Deceleration while homing. HOMAD1Ø
(10 units/sec
2
)
HOMADA............ S-curve deceleration while homing (servos only). HOMADA1Ø
(10 units/sec
2
)
HOMBAC............ Back up to home. The load will decelerate to a stop after encountering the
active edge of the home region, and then will move in the opposite direction
at the HOMVF velocity until the active edge of the home region is
encountered. Allows the use of HOMEDG and HOMDF.
HOMBACØ
(function disabled)
HOMDF.............. Final approach direction —during backup to home (HOMBAC) or during
homing to the Z channel input of an incremental encoder (HOMZ).
HOMDFØ
(positive direction)
HOMEDG............ Specify the side of the home switch on which to stop (either the positive-
travel side or the negative-travel side).
HOMEGDØ
(positive-travel side
of switch)
HOMLVL............ Define the home limit input active level (i.e., the state, high or low, which is
to be considered an activation of the input). To use a normally-open
switch, select active low (HOMLVLØ); to use a normally-closed switch,
select active high (HOMLVL1).
HOMLVLØ
(active-low, use a
normally-closed
switch)
HOMV................. Velocity while seeking the home position (see also HOMVF). HOMV1
(1 unit/sec)
HOMVF.............. Velocity while in final approach to home position—during backup to home
(HOMBAC) or during homing to the Z channel input of an incremental
encoder (HOMZ).
HOMVF.1
(0.1 unit/sec)
HOMZ................. Home to the Z channel input from an incremental encoder. NOTE: The
home limit input must be active prior to homing to the Z channel.
(This feature is not applicable to the OEM-AT6400.)
HOMZØ
(function disabled)
AVOID PAUSE & RESUME DURING HOMING
Avoid using pause and resume functions during the homing operation. A pause command (PS
or !PS) or pause input (input configured with the INFNCi-E command) will pause the homing
motion. However, when the subsequent resume command (C or !C) or resume input
(INFNCi-E input) occurs, motion will resume at the beginning of the homing motion sequence.