1. Upon begin, motor accelerates to the slew speed. The direction of its motion is
determined by the state of the homing input. A zero (GND) will cause the motor to
start in the forward direction; +5V will cause it to start in the reverse direction. The
CN command is used to define the polarity of the home input.
2. Upon detecting the home switch changing state, the motor begins decelerating to a
stop.
3. The motor then traverses very slowly back until the home switch toggles again.
4. The motor then traverses forward until the encoder index pulse is detected.
5. The DMC-1600 defines the home position (0) as the position at which the index was
detected.
Example:
#HOME Label
AC 1000000
Acceleration Rate
DC 1000000
Deceleration Rate
SP 5000
Speed for Home Search
HM X
Home X
BG X
Begin Motion
AM X
After Complete
MG "AT HOME"
Send Message
EN End
#EDGE Label
AC 2000000
Acceleration rate
DC 2000000
Deceleration rate
SP 8000
Speed
FE Y
Find edge command
BG Y
Begin motion
AM Y
After complete
MG "FOUND HOME"
Send message
DP,0
Define position as 0
EN End
112
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Chapter 6 Programming Motion
DMC-1600
