Homing
Original instructions
About us
Description
This function commands the axis to search for a reference point set by input signals, and to stop at this reference point.
When the homing sequence is completed:
There are different homing modes, depending on the physical configuration of the controlled machine. The mode to be used is chosen via the "Homing Type" parameter (cf. description of each type below).
Physical Inputs/Outputs
Input/Output
Description
Drive_Ready&Emergency input (optional)
The pulse output is generated as long as a current goes through Drive_Ready&Emergency input.
Proximity&LimitSwitch input (optional)
This input can be used in two ways:
  • as proximity signal for the homing profile and detailed below within the description of each homing mode:
  • as a LimitSwitch.
Counter_in_Position input (optional)
For information, input from the drive goes high when positioning movement is completed (the drive’s error counter is empty).
According to configuration, this input can also be used for the homing process. See below Homing I/O Settings description.
Origin Input
Detailed within the description of each homing mode.
Drive_Enable output:
To be connected to the corresponding input of the drive.
Enables the drive when active.
This output is directly controlled via an implicit command object (%Qr.m.c.0).
Counter_Clear output
See Homing I/O Settings description
To be connected to the corresponding input of the drive.
Orders a reset of the drive internal error counter
Configuration Parameters
Parameter
Valid Values
PTO Output Mode
Value 0: Pulse + Direction (Default)
Value 1: CW/CCW
Value 2: A/B Phases
Value 3: Pulse + Direction – Reverse
Value 4: CW/CCW – Reverse
Value 5: A/B Phases – Reverse
Acceleration / Deceleration Unit
ms or Hz/2ms
Default is ms
Homing Type
Value 0: Short Cam (Default)
Value 1: Long Cam Positive
Value 2: Long Cam Negative
Value 3: Short Cam with Positive Limit
Value 4: Short Cam with Negative Limit
Value 5: Short Cam with Marker
Homing I/O Settings
Value 0: No I/O used (Default)
Value 1: With Counter_Clear Output
Value 2: With Counter_in_Position Input
Representation in FBD
Representation:
Representation in LD
Representation:
WARNING
UNINTENDED APPLICATION BEHAVIOR-COMMAND SENT ON EACH PLC CYCLE
Commands will be sent on every PLC cycle if EN is set to 1.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
Representation in IL
Representation: 
HOMING (CH := (*ANY_IODDT*), POSITION := (*DINT*), VELOCITY := (*DINT*))
ST (*BYTE*)
Representation in ST
Representation: 
(*BYTE*) := HOMING (CH := (*ANY_IODDT*), POSITION := (*DINT*), VELOCITY := (*DINT*));
Command Specific Parameters
Parameter
Valid Values
Target position (in pulses)
- 2,147,483,648 to 2,147,483,647
Must be enclosed between SW Low Limit and SW High Limit
Velocity (in Hz)
-200 kHz to 200 kHz (≠0)
Absolute value limited by Max Frequency
Adjusment Parameters
Parameter
Valid Values
Hysteresis (Slack)
0 to 255 pulses
Default is 0
For A/B Phase output mode only (Normal or Reverse)
Start Frequency (in Hz)
0 Hz to 65,535 Hz
Default is 0Hz, limited by Max Frequency
Stop Frequency (in Hz)
0 Hz to 65,535 Hz
Default is 0Hz, limited by Max Frequency
Acceleration Rate
10 to 32,500
Default is 100, limited by Max Acceleration
Deceleration Rate
10 to 32,500
Default is 100, limited by Max Deceleration
Emergency Deceleration Rate
10 to 32,500
Default is 100, limited by Max Deceleration
Software High Limit (in pulses)
-2,147,483,647 to 2,147,483,647
Default is 2,147,483,647
Must be between SW Low Limit and SW Max High Limit
Software Low Limit (in pulses)
-2,147,483,648 to 2,147,483,646
Default is - 2,147,483,647
Must be enclosed between SW Min Low Limit and SW High Limit
Homing Velocity (in Hz)
1 Hz to 65,535 Hz
Default is 1Hz, limited by Max Frequency
Must be ≥ Start Frequency (if enabled)
Must be ≥ Stop Frequency (if enabled)
Homing Time Out Value
0 to 65,535 ms
Default is 65,535 ms
NOTE: For a detailed explanation on how to keep consistency between parameters, please refer to parameter description section.
Overall Parameters
Explicit Command Parameters
Setting Parameters
Adjustment Parameters
Adress
Parameter
Adress
Parameter
Adress
Parameter
%MWr.m.c.6 (byte 0)
Command CodeValue (=5)
%KWr.m.c.1 (byte 0)
Output Mode
%MDr.m.c.14
SW High Limit
%MDr.m.c.8
Target Position
%KWr.m.c.1 (byte 10 & 11)
Homing I/O Settings
%MDr.m.c.16
SW Low Limit
%MDr.m.c.10
Target Velocity
%KWr.m.c.1 (byte 12)
Acc/Dec Unit
%MWr.m.c.18
Start Frequency
%KWr.m.c.4
Acc Max
%MWr.m.c.19
Stop Frequency
%KWr.m.c.5
Dec Max
%MWr.m.c.20
Acceleration Rate
%KDr.m.c.6
FMax
%MWr.m.c.21
Deceleration Rate
%KDr.m.c.8
SW Max High Limit
%MWr.m.c.23
Homing Velocity
%KDr.m.c.10
SW Min Low Limit
%MWr.m.c.24
Homing Time Out Value
%KWr.m.c.12
Homing Type
%MWr.m.c.25
Hysteresis