Control Techniques Epsilon EP-P Reference Manual page 23

Figure 16:
When the drive sees the Home Initiate, it accelerates the motor to the Home Velocity.
The motor continues at that velocity until it first senses the Home Sensor input. It continues at the same velocity until the
motor's encoder marker channel is sensed. The rising edge of the motor's encoder marker channel is used to establish the
reference position. Once the home reference is detected, the motor decelerates to a stop and moves to the offset position.
Home Sequence
1. If on sensor then back off (if enabled)
2. Search for sensor
3. Search for marker
4. Go to offset (2.0 Revs)
5. Set feedback position equal to End of Home Position
Figure 17:
Epsilon EP-P Drive Reference Manual
Revision A4
Gear Reducer
NT
Motor
Home to Sensor and Marker, Example
Velocity
+ 100
Back off
Sensor
- 100
Home Velocity Profile
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External
Home Sensor
+ 100
Sensor Marker
Time
9