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Below is a diagram of a home using the "Back off before homing" radio box, a Home Reference of "Sensor", and using a
"Calculated Offset".
Home
Sensor
Input
Figure 103:
Home Reference Position
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 it s 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.
Off
On
Off
Velocity
Back off
Sensor Move
Start of Normal
Home Routine
On
Time
Home Reference
Position
Setting Up Parameters
111
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