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HOMAA
Homing Average Acceleration
Type
Motion (S-Curve)
Syntax
<a_><!>HOMAA<r >
Units
r = units/sec/sec
Range
0, or 0.0001 – 9999.9999
Default
10.00 (Default is a constant accel ramp, where HOMAA tracks
HOMA. S-curve accel is achieved when HOMAA is changed
independent of HOMA. To restore a constant accel ramp and
tracking, set HOMAA = 0.)
Response
HOMAA:
*HOMAA10.0000
See Also
A, AD, ADA, HOM, HOMA, HOMAA, HOMAD, HOMADA, , HOMBAC, SCALE,
SCLA
The
command allows you to specify the average acceleration for an S-curve homing profile. S-curve
HOMAA
profiling provides smoother motion control by reducing the rate of change in acceleration and deceleration;
this accel/decel rate of change is known as jerk. Refer to page
Scaling (
) affects
SCLA
HOMAA
Example:
SCALE0
; Disable scaling
DEL proge
; Delete program called proge
DEF proge
; Begin definition of program called proge
MA0
; Select incremental positioning mode
HOMA10
; Set homing max. accel to 10 rev/sec/sec
HOMAA5
; Set homing avg. accel to 5 rev/sec/sec
HOMAD10
; Set homing max. decel to 10 rev/sec/sec
HOMADA5
; Set homing avg. decel to 5 rev/sec/sec
HOM1
; Execute a pure S-curve homing move in the negative-direction
END
; End definition of program
HOMAD
Home Deceleration
Type
Homing
Syntax
<a_><!>HOMAD<r>
Units
r = units/sec/sec
Range
0, or 0.0001 – 9999.9999
Default
10.0000 (by default, HOMAD tracks HOMA until HOMAD is changed
independent of HOMA; to restore tracking, set HOMAD = 0)
Response
HOMAD:
*HOMAD10.0000
See Also
HOM, HOMA, HOMAA, HOMAD, HOMADA, HOMBAC, HOMEDG, HOMDF, HOMV,
HOMVF, HOMZ, [ LIM ], LIMEN, LIMLVL, SCALE, SCLA
The
command specifies the deceleration rate to be used upon executing the next go home (
HOMAD
command.
UNITS OF MEASURE and SCALING: refer to page 16.
The home deceleration remains set until you change it with a subsequent home deceleration command.
Decelerations outside the valid range are flagged as an error, with a message
where x is the field number. When an invalid deceleration is entered the previous deceleration value is
retained.
If the
command has not been entered, the home acceleration (
HOMAD
deceleration rate. Once the
HOMAD
longer affects home deceleration. If the
deceleration will once again track whatever the
Example: Refer to the go home (HOM) command example.
the same as it does for
. Refer to page
HOMA
command has been entered, the home acceleration (
command is set to zero (
HOMAD
command is set to.
HOMA
www.comoso.com
Product
GT6K
GV6K
15
for details on S-curve profiling.
16
for details on scaling.
Product
GT6K
GV6K
*INVALID DATA-FIELD x
) command will set the
HOMA
HOMA
), then the homing
HOMADØ
Command Descriptions
Rev
6.0
6.0
Rev
6.0
6.0
)
HOM
,
) command no
153
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