The DMC-40x0 defines the home position as the position at which the index was detected and sets the encoder
reading at this point to zero.
The 4 different motion possibilities for the home sequence are shown in the following table.
Direction of Motion
Switch Type CN Setting Initial _HMX state Stage 1 Stage 2 Stage 3
Normally Open CN,-1 1 Reverse Forward Forward
Normally Open CN,1 0 Forward Reverse Forward
Normally Closed CN,-1 0 Forward Reverse Forward
Normally Closed CN,1 1 Reverse Forward Forward
Example: Homing
Instruction Interpretation
#HOME Label
CN,-1 Configure the polarity of the home input
AC 1000000 Acceleration Rate
DC 1000000 Deceleration Rate
SP 5000 Speed for Home Search
HM Home
BG Begin Motion
AM After Complete
MG “AT HOME”
Send Message
EN End
Figure 6.21 shows the velocity profile from the homing sequence of the example program above. For this profile,
the switch is normally closed and CN,-1.
Chapter 6 Programming Motion • 125 DMC-40x0 User Manual
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