Appendix D Explanation of Homing Modes
D
Homing depending on the home switch, positive limit switch and Z pulse (
: mode 10)
Mode 11~ mode 14 Homing which depends on the home switch, negative limit switch and Z pulse
Mode 11
Circumstance 1: MC_Home instruction is executed and the axis moves in the negative direction at the
first-phase speed when the home switch is OFF. The motion direction changes and
the axis moves at the second-phase speed when the home switch is ON. And where
the first Z pulse is met is the home position while the home switch is OFF.
Circumstance 2: MC_Home instruction is executed and the axis moves in the positive direction at the
second-phase speed while the home switch is ON. And where the first Z pulse is met
is the home position while the home switch is OFF.
Circumstance 3: MC_Home instruction is executed and the axis moves in the negative direction at the
first-phase speed while the home switch is OFF. The motion direction changes and
the axis moves at the first-phase speed while the home switch is OFF and the
negative limit switch is ON. The axis moves at the second-phase speed when the
home switch is ON. Where the first Z pulse is met is the home position while the home
switch is OFF.
Z pulse
Home switch
Positive limit switch
10
10
10
Circumstance 1
Circumstance 2
Circumstance 3
Start
point
Start
point
Start
point
Positive direction
Positive direction
Positive direction
D-9