115
MG.10.J8.02 – VLT is a registered Danfoss trade mark
Programmable SyncPos motion controller
Software Reference
■
■
■
■
■
HOM E
The HOME command is moving the drive to the
machine reference switch, which must be placed
at the machine zero or reference position. Velocity
and acceleration/deceleration for HOME positio-
ning is defined in the parameters HOME_VEL (7)
and HOME_RAMP (41).
To achieve accurate positioning HOME_VEL (7)
should not be higher than 10 % of maximum velo-
city.
The sign of HOME_VEL (7) determines the direc-
tion in which the reference switch is searched.
When the HOME position is reached, this position
will be defined as 0.
The reference switch can be approached in 4 dif-
ferent ways defined in parameter HOME_TYPE(40):
0 Moves to reference switch, moves in opposite
direction leaving the references switch and
stops at the next index pulse (encoder zero
pulse or external marker signal).
1 Like 0 but without searching for the index pulse.
2 Like 0 but leaving the switch without reversing
the direction.
3 Like 2 but without searching for the index pulse.
If HOME is aborted via an Interrupt, HOME will not
be continued automatically at the end of the inter-
rupt routine function. Instead the program conti-
nues with the next command. This makes it pos-
sible for HOME to also be aborted after an error.
Summary
Move to device zero point (reference switch) and
set as the real zero point.
Syntax
H O M E
Peculiarities
The system must be fitted with a reference switch,
when possible with an encoder with an index
pulse.
NB!
The HOME command will also be carried out
to the end in the NOWAIT ON mode, before
other program processing will be begun.
Please note, that ON PERIOD xx GOSUB xx must
be disabled during homing.
E.g. ON PERIOD n GOSUB x and the resetting
after homing is completed.
Command group
I N I
Cross Index
I N D EX
Parameter: HOM E_VEL (7), HOME_RAMP (41),
HOME_TYPE (40), HOME_FORCE (3)
Syntax-Example
HOME
/* move to reference switch and index */
Program sample
HOME_01.M
