MachMotion Apollo III 1000 Series Manual page 17

In the example above, motor 0, 1, and 2 home switches are enabled. All of them are wired normally closed. The device
and input name for motor 0 is HiCON [P11] Input1 (X1). Since the switches for each motor are wired in series, the
motor ++ and motor -- signals lower down in the list would also have the same corresponding device and input names.
Manually trigger each limit switch and make sure they disable Mach before continuing.
4.3 Homing Setup
If the limit switches are not set up correctly or if an axis moves in the opposite direction of the
home switch, the machine could crash. Make sure to keep a hand on the Emergency Stop button
1. From the menu bar click Configure->Control. Select the Homing/SoftLimits tab as shown below.
Select the direction each axis should home toward (positive or negative).
Configure the home order, with 1 being first, 2 being second, etc...
Set the homing speed of the axis by changing the percentage under the Speed % (20% is maximum for most
systems for optimal performance. Slower speeds can prevent over-travel. Jogging in rapid or faster speeds to
move maching closer to home position prior to homing can save time).
Ensure Home In Place column is a red X. If green check mark, click on it to change to red X. If it is a green
checkmark it will not move to the home switches.
Press [OK] to save changes.
Homing on the machine should now be completely set up. Home each axis individually to verify the configuration.
Press the [Home All] button again to make sure that everything works correctly.
4.4 Soft Limits Setup
With machine homed correctly and soft limits set, the machine will not hit a physical limit switch. If at any time a
command is made for the machine to move outside of the soft limits (while they are enabled), an error will appear in
the status line and motion will stop. To set up the soft limits, follow the procedure outlined below.
Figure 24 Input Signals
WARNING
the first time the machine homes.
Figure 25 Homing setup