Emerson EZMotion User Manual page 142

If on sensor... Group
These radio buttons determine how the system reacts if the Home.#.SensorTrigger is already active when the home is initiated.
Back off before homing Radio Button
If this radio button is selected, the drive will back off the sensor before beginning the home. It does this by moving the direction
opposite to that specified by the sign of the home velocity. It continues moving in this direction at the target home velocity until the
sensor deactivates. The motor then decelerates to a stop and performs a standard home.
Go forward to next sensor Radio Button
If this radio button is selected, then the system will ignore the sensor that is active when the home is initiated, and move in the proper
direction until the first low to high transition of the Home Reference signal.
Home Offset Group
The Home Offset group has two buttons, the Calculated Offset Radio Button and the Specified Offset Radio Button.
Calculated Offset Radio Button
The calculated offset is defined as the distance traveled during deceleration ramp from the home velocity to a stop plus the distance
traveled at the home velocity for 1600 µs. This extra distance is used to guarantee that the motor will not need to backup after the
deceleration ramp.
Specified Offset Radio Button
The specified offset allows the user to choose an exact offset from the Home Reference point.
The commanded motion will stop at exactly the offset distance away from the reference point as specified. If the specified offset is
smaller than the calculated offset, the motor will decelerate to a stop and then back up to its final offset position.
Limit Distance Check Box
This check box when selected enables the Home Limit Distance.
Limit Distance
The Limit Distance parameter places an upper limit on the incremental distance traveled during a home. If no home reference is
found in this distance, the motor will decelerate to a stop at the limit distance and activate the Home.#.LimitDistHit source.
End of Home Position
This parameter defines the position at the completion of the home. This defaults to 0.0 such that at the end of a home, the Feedback
Position and the Commanded Position are set to 0.0.
If you wish your Feedback Position to be something other than 0.0 at the end of a home, then enter the exact desired position here.
For more details on how homing works see Home on page 33
Home Sources and Destinations
Sources
Home.AbsolutePosnValid - This source is activated when a Home is successfully completed. It indicates that the device has been
homed properly. It is will be deactivated by the Home.#.Initiate destination, an encoder fault, a reboot, or when the device is powered
down, unless using Auxiliary Logic Supply (ALP).
Home.AnyCommandComplete - This source is activated when any home motion command is completed. If a drive stop
destination is activated before the home has completed, this source will not activate. It will be deactivated when another home is
initiated.
Home.#.Accelerating - This source is active while a home is accelerating to its target velocity. Once the home reaches the target
velocity, the Home.#.Accelerating source will deactivate. This source will also activate during the "back off sensor" motion before the
actual home.
Home.#.AtVel - This source activates when the home reaches its target velocity. It deactivates when a home deceleration ramp
begins. Home.#.AtVel will not be activated during the "back off sensor" portion of the home.
Home.#.CommandComplete - The Home.#.CommandComplete source will activate when the specific home completes its
deceleration ramp. It will remain active until the specific home is initiated again. If the drive stop destination is used during a home,
then the Home.#.CommandComplete will not activate.
Home.#.CommandInProgress - Activated when the Home is initiated and remains active until all motion related to the Home has
completed.
Home.#.Decelerating - This source is active while a home is decelerating from its target velocity. Once the home reaches zero
velocity (or its' new target velocity), the Home.#.Decelerating source will deactivate. This source will also activate during the "back
off sensor" motion before the actual home.
Home.#.LimitDistHit - This source is activated when the home reference is not found before the Home Limit Distance is traveled. It
will remain active until the home is initiated again.
Destinations
Home.#.Initiate - The Home.#.Initiate destination is used to initiate the home function. The Home is initiated on the rising edge of
this function. The device will not initiate a Home if there is an Index, Jog, or Program in progress, or if the Stop destination is active
or if a travel limit is active.
Home.#.SensorTrigger - This destination is required to be used if you are homing to a sensor. This destination is edge sensitive.
The home position is determined when the Home Sensor destination is activated.
If the device receives a Home.#.Initiate input while the Home.#.SensorTrigger is active, you can choose to have the motor "back-off"
of the home sensor before it initiates the home function, or move forward to the next sensor.
If debounce is used on the hardware input that the Home.#.SensorTrigger is assigned to, the debounce determines the length of
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EZMotion User/Programming Guide
Revision: A8