5. When Start is selected, the motor will move until it encounters the positive end of travel switch. As soon
as the switch is triggered, the motor will reverse direction, decelerate to a reduced velocity based on the
Velocity Factor value, and move until the motor encounters the index pules of the feedback device.
Homing Mode 4: Find Home Input
Homing Mode 4 establishes the home reference based on an external home switch connected to a drive digital
input (DINx.MODE - 11 Home Reference).
The sequence of this homing mode is as follows:
1. The motor starts to move according to the direction (HOME.DIR) setting.
2. The home position has been found as soon as the home-switch becomes active while traveling in the
selected direction of motion (HOME.DIR). The actual and command position of the drive will imme-
diately be set to the position (HOME.P) value and the motor ramps down to velocity 0. The axis is then
moved to the position (home.p) + distance offset (home.dist).
The hardware limit switches are monitored during the homing procedure. The drive behaves as follows in case
that a hardware limit switch is active before the home-switch has been activated:
a. The motor changes the direction until the home switch is crossed.
b. The motor ramps down to zero velocity and reverses direction again after crossing the home-switch.
c. The home-switch will now be activated according to the direction (HOME.DIR) setting and when the
home-position has been found. The actual and the command position of the drive will immediately be
set to the position (HOME.P) value and the motor ramps down to zero velocity. The axis is then
moved to the position (home.p) + distance offset (home.dist).
Homing Mode 4 Example
Moveinthenegativedirectiontowards thehomereferencepoint andthenmove180degreesfrom thereference point
1. Select Mode 4 from the drop down box.
2. Set the Direction to Negative and enter 180 for distance.
3. Click Start.
4. The motor moves until it encounters the home reference switch. As soon as the switch is triggered, the
motor moves an increment of 180 degrees as desired.
Homing Mode 5: Find Home Input then Find Zero Angle
The sequence of this homing mode is as follows:
1. The motor starts to move according to the Direction (HOME.DIR) setting.
2. The home position has been found as soon as the home-switch becomes active while traveling in the
selected direction of motion (HOME.DIR). The actual and the command position of the drive will imme-
diately be set to the Position (HOME.P) value plus the distance to the mechanical zero angle of the feed-
back device according to the current direction.
3. The motor moves to the home Position (HOME.P) value plus the distance move offset is applied (if
present), which is located at the mechanical zero-angle of the feedback.
The hardware limit switches are monitored during the homing procedure. The drive behaves as follows in case
that a hardware limit switch is active before the home-switch has been activated:
a. The motor changes the direction until the home switch is crossed.
b. The motor ramps down to zero velocity and changes afterwards the direction again after crossing the
home-switch.
c. The home-switch will now be activated according to the HOME.DIR setting and when the home-posi-
tion has been found. The actual and the command position of the drive will immediately be set to the
position (HOME.P) value plus distance to the mechanical zero angle of the feedback device accord-
ing to the current direction.
AKD User Guide | 12 Creating Motion
Kollmorgen | December 2010 125
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