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HOMADA
Homing Average Deceleration
Type
Motion (S-Curve)
Syntax
<a_><!>HOMADA<r>
Units
r = units/sec/sec
Range
0.0001 – 9999.9999
Default
10.00 (By default, HOMADA tracks HOMAA until HOMADA is changed
independent of HOMAA. To restore tracking, set HOMAD = 0.)
Response
HOMADA:
*HOMADA10.0000
See Also
A, AD, HOM, HOMA, HOMAA, HOMAD, HOMADA???, SCALE, SCLA
The
command allows you to specify the average deceleration for an S-curve homing profile. S-
HOMADA
curve 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
profiling.
Scaling (
) affects
SCLA
HOMADA
Example: Refer to the Homing Average Acceleration (HOMAA) command example.
HOMBAC
Home Backup Enable
Type
Homing
Syntax
<a_><!>HOMBAC<b>
Units
n/a
Range
b = 0 (disable) or 1 (enable)
Default
0
Response
HOMBAC:
*HOMBAC0
See Also
HOM, HOMA, HOMAA, HOMAD, HOMADA, HOMDF, HOMEDG, HOMV, HOMVF,
HOMZ
The
command enables or disables the backup to home switch function. When this function is enabled,
HOMBAC
the motor will decelerate to a stop after encountering the active edge of the home region, and then move the
motor in the opposite direction at the home final velocity (
encountered. This motion will occur regardless of whether or not the home input is active at the end of the
deceleration of the initial go home move.
Example: Refer to the go home (HOM) command example.
HOMDF
Home Final Direction
Type
Homing
Syntax
<a_><!>HOMDF<b>
Units
n/a
Range
b = 0 (positive-direction) or 1 (negative-direction)
Default
0
Response
HOMDF:
*HOMDF0
See Also
HOM, HOMA, HOMAA, HOMAD, HOMADA, HOMBAC, HOMEDG, HOMV, HOMVF,
HOMZ
The
command specifies the direction to be traveling when the home algorithm does its final
HOMDF
approach. This command is operational when backup to home (
encoder Z channel (
).
HOMZ
Example: Refer to the go home (HOM) command example.
154
Gemini GV6K/GT6K Command Reference
the same as it does for
HOMAD
HOMVF
www.comoso.com
15
for details on S-curve
. Refer to page
16
for details on scaling.
) until the active edge of the home region is
) is enabled, or when homing to an
HOMBAC
Product
Rev
GT6K
6.0
GV6K
6.0
Product
Rev
GT6K
6.0
GV6K
6.0
Product
Rev
GT6K
6.0
GV6K
6.0
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