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FM-4 Programming Module Reference Manual
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 goes 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 1600µs. 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
LimitDistEnable
This check box enables the specified Home Limit Distance.
The Limit Distance parameter places an upper limit on the incremental di s tance 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.
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