HomeType Parameter

When you select this home type, the following procedure is used.

1. If the limit input is currently active, the axis moves out of the limit condition by moving in the direction opposite of that specified by the Home Start Direction setting of the HomeSetup parameter. Once the limit condition is cleared, the axis decelerates to a stop. If the limit input is not active, no motion occurs during this step.
2. The axis moves toward the limit by moving in the direction specified by the Home Start Direction setting of the HomeSetup parameter. This movement continues until the limit input goes active, at which point the axis decelerates to a stop.
3. The axis then begins moving again, in the same direction as the previous move, and continues until the marker input goes active, at which point the position of the marker is latched in the hardware and the axis decelerates to a stop.
4. The axis moves back to the position at which the marker was latched. If a nonzero value is set for the HomeOffset parameter, the axis moves the specified distance from where the marker was latched.
5. The position command and the program position command are set to the value specified by the HomePositionSet parameter.

Figure: Home Past Limit to Marker

For home types that use limit switches to operate correctly, you must select the CW/Positive End-of-Travel Limit Fault and CCW/Negative End-of-Travel Limit Fault bits in the FaultMask Parameter. If you do not select these bits, the limit switches will be ignored during the home cycle, preventing the home cycle from completing successfully.

When you select this home type, the following procedure is used.

1. The axis moves toward the limit by moving in the direction specified by the Home Start Direction setting of the HomeSetup Parameter. This movement continues until the appropriate limit input goes active, at which point the axis decelerates to a stop.
2. The axis moves out of the limit by moving in the direction opposite that of the previous move. Once the limit condition is cleared, the axis decelerates to a stop.
3. The axis then begins moving again, in the same direction as the previous move, and continues until the marker input goes active, at which point the position of the marker is latched in the hardware and the axis decelerates to a stop.
4. The axis moves back to the position at which the marker was latched. If a nonzero value is set for the HomeOffset Parameter, the axis moves the specified distance from where the marker was latched.
5. The position command and the program position command are set to the value specified by the HomePositionSet Parameter.

Figure: Home to Limit and Reverse to Marker Motion Diagram

When you select this home type, the following procedure is used.

1. The axis begins moving in the direction specified by the Home Start Direction setting of the HomeSetup Parameter and continues until the marker input goes active, at which point the position of the marker is latched in the hardware and the axis decelerates to a stop.
2. The axis moves back to the position at which the marker was latched. If a nonzero value is set for the HomeOffset Parameter, the axis moves the specified distance from where the marker was latched.
3. The position command and the program position command are set to the value specified by the HomePositionSet Parameter.

Figure: Home to Marker Only Motion Diagram

When you select this home type, the following procedure is used.

1. The axis moves toward the limit by moving in the direction specified by the Home Start Direction setting of the HomeSetup Parameter. This movement continues until the appropriate limit input goes active, at which point the axis decelerates to a stop.
2. The axis moves out of the limit by moving the direction opposite that of the previous move. Once the limit condition is cleared, the axis decelerates to a stop.
3. If a nonzero value is set for the HomeOffset Parameter, the axis moves the specified distance from this location.
4. The position command and the program position command are set to the value specified by the HomePositionSet Parameter.

Figure: Home to Limit Only Motion Diagram

When you select this home type, the position command and the program position command are set to the value specified by the HomePositionSet Parameter. Any position error present at the time of homing is maintained. No motion occurs using this type of home, including any offset move specified by the HomeOffset Parameter.

When you select this home type, the position command, position feedback, and the program position command are set to the value specified by the HomePositionSet Parameter. Any position error present at the time of homing will be cleared. No motion will occur using this type of home, including any offset move specified by the HomeOffset Parameter.

When you select this home type, the system does as follows.

1. No motion occurs during homing, and the HomeOffset Parameter does not have an effect.
2. The position command and the program position command are set to the absolute position of the axis. Any position error present at the time of homing is maintained.
3. The controller applies an offset to the position command and to the program position command. The applied offset value is the same as the value of the HomePositionSet Parameter. No motion occurs when this offset is applied. The offset is applied because the HomePositionSet Parameter defines the position that the controller reports when the absolute position of the axis is at 0.0.

The type of system configuration determines if the controller automatically homes the axis or if you need to explicitly home the axis.

• If the axis is not part of a gantry under Decoupling Control, the controller automatically homes the axis the first time you enable the axis.
• If the axis is part of a gantry under Decoupling Control, the controller will not automatically home the axis. You must explicitly home the axis.