Motion Control
Precision MicroControl Corp.
108
Servo motor and
encoder
Stage
Lead screw
Coarse Home
sensor
Positive Limit
sensor
Negative Limit
sensor
Figure 36. Typical Linear Stage
When power is applied or the controller is reset, the position of the stage is unknown. To home the axis a
velocity mode move in the positive direction is commanded, checking the status of both the Coarse Home
sensor and the Limit + sensor. Once the axis is within the Coarse Home sensor the
MCIndexArm( )
,
MCIsIndexFound( )
, and
MCWaitForIndex( )
functions are used to reference the reported position of the
axis to the index mark. The
MCEnableAxis( )
function completes the homing operation by reinitialize all
position registers. The following flow chart describes a typical homing procedure. If the positive limit
sensor is activated the stage will change direction prior to homing the axis.
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