There are 6 homing modes:
Each homing mode has two velocities: a high velocity, which is set as a command parameter (Velocity), and a low velocity, used to get to the referenced point, set by adjustment (Homing Velocity).
Homing I/O settings
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When the Counter_Clear output is enabled (value 1):
In order to synchronize the PTO channel and the drive, a pulse is sent on the Counter_Clear output.
When the homing condition is reached, the channel’s internal counter is set to the specified position value and the output frequency is stopped.
The channel "REFERENCED" status bit is then set to 1.
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When the Counter_in_Position input is enabled (value 2):
After the homing condition is reached, the output frequency is stopped.
In order to synchronize the PTO channel and the PTO drive, the homing command remains running (BUSY state) until a rising edge of the Counter_in_Position input is detected. The channel’s internal counter is then set to the specified position value and the channel "REFERENCED" status bit is set to 1.
A homing function error is reported if Counter_in_Position remains low after a certain duration (time-out value to be configured in setting parameters) by rising the HOMING_FLT bit (%MWr.m.c.5.4) and the AXIS_FLT bit (%IWr.m.c.6.3).
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When no specific I/O are used for the homing process (value 0):
When the homing condition is reached, the channel’s internal counter is set to the specified position value and the output frequency is stopped.
The channel "REFERENCED" status bit is then set to 1.
Synchronization between the PTO channel and the PTO drive cannot be assumed because the end of the homing process is defined internally in the module, independently from any feedback from the drive.
For all homing modes described in the following sections, the direction (FORWARD, BACKWARD) is given by the sign of Velocity, specified in the homing command.
