Single-Axis Motion
06/2005
Danaher Motion
100 Rev
E
M-SS-005-03l
<axis>.HomeDistanceMax
Specifies the maximum distance from the point at
which the homing process began (in either direction)
that an axis is allowed to travel in order to find the hard-
home position-switch-transition.
<axis>.HomeType
Specifies the homing latch type: 0=
marker1=switch2=marker
<axis>.HomeOffset
Sets the soft home position to position 0000…. within
the MC after
HOMEOFFSET
-specified distance has
been traveled from the hard-home position (micro or
prox-switch, etc.). When maintenance on an axis
effects the integrity between the controller programs
and the mechanical axes (e.g., replacement of the
homing-switch), it is the value of
HOMEOFFSET
that is
adjusted for the re-establishment of the integrity. Actual
programs are not effected once the
HOMEOFFSET
has been adjusted. See
HOMEDISTANCE
when there
is more than one program that needs to repeatedly
start from different positions.
<axis>.HomePolarity
Specifies the homing switch edge1=rising
edge2=falling edge
<axis>.HomeReturn
Specifies whether the axis assigns and adjusts to the
proper position feedback for the home-position as the
axis travels through the home switch-transition or go
home (back to the switch after the first switch-transition
for the minimization of any position-lag error + any
HOMEOFFSET
or
HOMEDISTANCE
for the
assignment of the home-position)0 = do not go back1 =
go back to the switch
<axis>.HomeStatus
Provides the status of the home (read only property)0 =
axis not home1 = axis is home2 = home in progress3 =
error during homing procedure
<axis>.HomeVelocity
Specifies the velocity to be used during the homing
procedure (with the inclusion of
HOMEOFFSET
or
HOMEDISTANCE
).
The various homing properties are provided to allow you to set the values of
the parameters that determine the behavior of the procedure. For instance,
properties such as
<axis>.HOMEVELOCITLY
,
<axis>.HOMEACCELERATION
,
<axis>.HOMEDISTANCE
, and
<axis>.HOMEOFFSET
allow you to control the rate at which the axis
approaches home.
The following example illustrates this procedure: A typical home application
may look like:
a1.HomeVelocity = 100
a1.HomeAcceleration = 1000
a1.HomeOffset = 100
a1.HomeDistance = 100
a1.HomeDirection = 1
a1.HomeType = 1
a1.HomePolarity = 2
a1.In1Mode = homing
a1.HomeDistanceMax = -1
a1.HomeReturn = 1
Home a1
For more information about these properties, refer to the
SERVOSTAR
®
MC
Reference Manual.
