20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786
Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com
MOTION CONTROL
2
15
Defining Home Position (continued)
Find Home CW & Find Home CCW Commands (continued)
Homing Operation When Home Limit Already Active
Figure 2.6 Home Limit Active
1) Accelerate towards the Programmed Speed in the direction opposite of the commanded direction.
2) Decelerate and stop when Home Input transitions from active to inactive. Wait 2 seconds before
continuing.
3) Return to the Home Limit at the programmed Starting Speed. Stop when Home Limit transitions from
inactive to active.
Homing Operation When Overtravel Limit Already Active
Figure 2.7 Overtravel Limit Active
1) Accelerate to the Programmed Speed in the direction opposite of the commanded direction.
2) Run in the direction opposite of the requested direction until the Home Input transitions from Active to
Inactive.
3) Decelerate to a stop and wait 2 seconds.
4) Return to the Home Input at the programmed Starting Speed. Stop when the Home Input transitions
from Inactive to Active.
(CW)
(CCW)
SPEED
POSITION
Starting Speed
Starting Speed
Home Limit
Switch
➀
➀
➀
➀
➁
➁
➁
➁
➂
➂
➂
➂
Programmed Speed
Programmed Speed
(CW)
(CCW)
SP
E
E
D
POSITION
Starting Speed
Starting Speed
Home
Limit
Switch
➀
➀
➀
➀
➁
➁
➁
➁
➂
➂
➂
➂
➃
➃
➃
➃
CW
End of Travel
Limit
Programmed Speed
