User Manual Instruction Manual

Application Notes 13-27
Figure 13-9 shows the sequence of operation for homing to a limit switch with encoder
feedback (without a marker pulse). Encoder Z Chan (423) must be set to “Pulse Input”
or “Pulse Check.”
• Homing to Limit Switch w/o Encoder Feedback
When “Find Home” is commanded, the homing routine is run when a Start command
is issued. The Homing bit (11) in Profile Status (700) will be set while the homing
routine is running. The drive will ramp to the speed and direction set in Find Home
Speed (713) at the rate set in Find Home Ramp (714) until the digital input defined as
Home Limit is activated. The drive will then decelerate to zero. If the switch is no
longer activated, the drive will reverse direction at 1/10 the Find Home Speed (713) to
the switch position and then stop. The Home Limit switch will be active when stopped.
Figure 13-10 shows the sequence of operation for homing to a limit switch without
encoder feedback.
• Position Redefine
Figure 13.9 – Homing to a Limit Switch
Figure 13.10 – Homing to a Limit Switch (No Feedback)
20 25 30 35 40 45 50 55
0
5
10
15
20
25
30
Find Home Command
Start Command
Home Limit Input
At Home
Homing
-50
0
50
100
150
200
250
6015 65
Encoder Speed (415) Units Traveled (701) Dig In Status (216)Profile Status (700)
Find Home Command
Start Command
Home Limit Input
At HomeHoming
-50
0
50
100
150
200
20 25 30 450 35
Speed Feedback (25) Dig In Status (216)Profile Status (700)