EDH0162En1040 – 06/99 4.20
MM4005 Motion Control Tutorial
Fig. 4.24 — High/Low-Speed Origin Switch Search.
Motion segment B is performed at high speed, with the pre-programmed
home search speed. When the origin switch transition is encountered, the
motion device stops (with an overshoot), reverses direction and looks for
it again, this time with half the velocity (segment C). Once found, it stops
again with an overshoot, reverses direction and executes D and E with one
tenth of the programmed home search speed.
In the case when the motion device starts from the other side of the origin
switch transition, the routine will look like Fig. 4.25.
Fig. 4.25 — Origin Search From Opposite Direction.
The MM4005 moves at high speed up to the origin switch transition (seg-
ment A) and then execute B, C, D and E.
All home search routines are run so that the last segment, E, is performed
in the positive direction of travel.
CAUTION
The home search routine is a very important procedure for the position-
ing accuracy of the entire system and it requires full attention from the
controller. Do not interrupt or send other commands during its execu-
tion, unless it is for emergency purposes.
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