DMC-40x0 Command Reference HM • 117
HM
FUNCTION: Home
DESCRIPTION:
The HM command performs a three-stage homing sequence for servo systems and two stage
sequence for stepper motor operation.
For servo motor operation: During first stage of the homing sequence, the motor moves at the
user programmed speed until detecting a transition on the homing input for that axis. The
direction for this first stage is determined by the initial state of the homing input. Once
the homing input changes state, the motor decelerates to a stop. The state of the homing
input can be configured using the CN command.
At the second stage, the motor change directions and slowly approach the transition again at the
speed set with the HV command. When the transition is detected, the motor is stopped
instantaneously.
At the third stage, the motor moves forward at the speed set with the HV command until it detects
an index pulse from the encoder. It latches to this point and defines it as position 0.
For stepper mode operation, the sequence consists of the first two stages. The frequency of
the motion in stage 2 is set with the HV command.
USAGE: DEFAULTS:
While Moving No Default Value
In a Program Yes Default Format
Command Line Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_HMn contains the state of the home switch for the specified axis
RELATED COMMANDS:
CN Configure Home
FI Find Index Only
FE Find Home Only
HV Homing velocity
EXAMPLES:
HM Set Homing Mode for all axes
BG Home all axes
BGA Home only the A-axis
BGB Home only the B-axis
BGC Home only the C-axis
BGD Home only the D-axis
Hint: You can create your own custom homing sequence by using the FE (Find Home Sensor only) and FI
(Find Index only) commands.
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