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Epsilon EP-P Drive Reference Manual
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Revision: A4
"Calculated Offset".
Figure 106:
Home Reference Position
3.35.1 Home Sources and Destinations
Sources
Home.AbsolutePosnValid
This source is activated when a Home is successfully completed. It indicates that the drive has been homed properly. It is will be deactivated
by the Home.#.Initiate destination, an encoder fault, a reboot, or when the drive’s 24 V logic is powered down.
Home.AnyCommandComplete
This source is activated when any home motion command is completed. If a drive stop destination is activated before the home has
completed, this source will not activate. It will be deactivated when another home is initiated.
Home.#.Accelerating
This source is active while a home is accelerating to its target velocity. Once the home reaches the target velocity, the Home.#.Accelerating
source will deactivate. This source will also activate during the "back off sensor" motion before the actual home.
Home.#.AtVel
This source activates when the home reaches its target velocity. It deactivates when a home deceleration ramp begins. Home.#.AtVel will not
be activated during the "back off sensor" portion of the home.
Home.#.CommandComplete
The Home.#.CommandComplete source will activate when the specific home completes its deceleration ramp. It will remain active until the
specific home is initiated again. If the drive stop destination is used during a home, then the Home.#.CommandComplete will not activate.
Home.#.CommandInProgress
Activated when the Home is initiated and remains active until all motion related to the Home has completed.
Home.#.Decelerating
This source is active while a home is decelerating from its target velocity. Once the home reaches zero velocity (or its’ new target velocity), the
Home.#.Decelerating source will deactivate. This source will also activate during the "back off sensor" motion before the actual home.
Home.#.LimitDistHit
This source is activated when the home reference is not found before the Home Limit Distance is traveled. It will remain active until the home
is initiated again.
Destinations
Home.#.Initiate
The Home.#.Initiate destination is used to initiate the home function. The Home is initiated on the rising edge of this function. The drive will not
initiate a Home if there is an Index, Jog, or Program in progress, or if the Stop destination is active or if a travel limit is active.
Home.#.SensorTrigger
This destination is required to be used if you are homing to a sensor. This destination is edge sensitive. The home position is determined when
the Home Sensor destination is activated.
If the drive receives a Home.#.Initiate input while the Home.#.SensorTrigger is active, you can choose to have the motor “back-off” of the home
sensor before it initiates the home function, or move forward to the next sensor.
If debounce is used on the hardware input that the Home.#.SensorTrigger is assigned to, the debounce determines the length of time the input
must be active to be considered a valid input. The rising edge of the sensor is still used for the reference position. This maintains accuracy
while providing the ability to ignore false inputs.
Velocity
Time
Home
Sensor
Input
On
Off
Off
On
Home Reference
Position
Start of Normal
Home Routine
Back off
Sensor Move
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