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HELP
Technical Support
Type
Program Debug Tool
Syntax
<!>HELP
Units
n/a
Range
n/a
Default
n/a
Response
See description below
See Also
None
The (
) command provides the telephone numbers for technical support.
HELP
HOM
Go Home
Type
Homing
Syntax
<a_><!>HOM<b>
Units
n/a
Range
b = 0 (home in positive direction), 1 (home in negative direction),
or X (do not home)
Default
X
Response
n/a
See Also
[ AS ], HOMA, HOMAA, HOMAD, HOMADA, HOMBAC, HOMDF, HOMEDG,
HOMV, HOMVF, HOMZ, PSET, TAS, TIN, TLIM
The
command instructs the Gem6K drive to search for the home position in the direction specified by the
HOM
command. If an end-of-travel limit is activated while searching for the home limit, the drive will reverse
direction and search for home in the opposite direction. However, if a second end-of-travel limit is
encountered, after the change of direction, the homing operation will be aborted.
The status of the homing operation is provided by bit 5 of the axis status register (refer to the
command). When the homing operation is successfully completed, the absolute position register is set to
zero (equivalent to
).
PSETØ
Pause and resume functions are not recommended during the homing operation. A
Pause command or input will pause the homing motion; however, when the subsequent
Resume command or input occurs, motion will resume at the beginning of the homing
motion sequence.
The homing operation has several parameters that determine the homing algorithm:
• Home acceleration (
• Home deceleration (
• Home velocity (
• Final home velocity (
• Home reference edge (
• Backup to home (
• Final home direction (
• Home to encoder Z-channel (
For more information on homing, including sample scenarios, refer to the Homing section of the
Programmer's Guide.
NOTE
and
)
HOMA
HOMAA
and
)
HOMAD
HOMADA
)
HOMV
)
HOMVF
)
HOMEDG
)
HOMBAC
)
HOMDF
)
HOMZ
www.comoso.com
Product
Rev
GT6K
6.0
GV6K
6.0
Product
Rev
GT6K
6.0
GV6K
6.0
or
TAS
AS
Command Descriptions
151
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