Home Function

Description

This function allows a reference point request to be sent to the speed drive.

NOTE: The type of reference point should be defined beforehand in the drive.

Note: The programmable position limits are not active until the reference point of an axis has been completed correctly, or the ForcedHome function is called.

Note: The end of travel switches must be connected before the reference point, since the drive may use these inputs to determine when it should reverse its movement.

During a reference point operation, any attempt to interrupt this operation before the end will cause the axis to stop and fault signalling. It is therefore necessary to acknowledge this fault before the axis can be moved again.

Action of the Function on the Real Axis

The axis must be enabled and in AXIS_IN_COMMAND. It must not be moving, holding or faulted, and it must have the ALLOW_MOVE MovementControl bit set to 1 in order for the command to be successful.

How to Use this Function

This function is implemented either:

directly by the bit position control (implicit exchanges)
using the WRITE_CMD (see WRITE_CMD).

Associated Language Objects

Implicit Exchanges: The table below presents the different language objects linked to this function.

Object	Name	Effective	Description
%Qr.m.c.29	ALLOW_MOVE	Status 1	Allow bit
%Qr.m.c.228	ALLOW_RESUME	Status 1	Allow bit
%Qr.m.c.30	ALLOW_NOT_FASTSTOP	Status 1	Allow bit
%Ir.m.c.5	AXIS_HOMED	-	Status bit

Exchange via WRITE_CMD: The table below presents the different language objects linked to this function.

Object	Name	Function code	Description
%MWr.m.c.26	ACTION_CMD	6034	Command
%MFr.m.c.31	PARAM_CMD_3	-	Direction of the reference point course: 1.0 (positive) or -1.0 (negative)
%MFr.m.c.33	PARAM_CMD_4	-	Speed of the reference point course in SpeedUnits
%MWr.m.c.19	ERROR_CMD	-	Error report. See WRITE_CMD Command: Programming Errors.