Homing mode (hm)

This method seeks the drive’s home position, also called the datum reference point or zero point. The drive’s home position can be sought through multiple methods: limit switches at the ends of travel or a home switch (zero-point switch) in mid-travel. Most methods also use the index (zero) pulse train from an incremental encoder. The user can specify the speeds, acceleration, and the method of homing.

It is possible to specify a home offset to displace zero in the coordinate system. The home offset is the difference between the application’s zero position and the machine’s home position. If the final home position must be a value different from zero, the user can define it using the Preset_Homing_Position object or Home_Offset object.

Choosing a homing method defines the homing signal (positive limit switch, negative limit switch, home switch, the direction of actuation when appropriate and the position of the index pulse. The sequence of the homing operation is described by the method.

Related objects:

Index	Object	Name	Type	Attr.	M/O
6040.0H	VAR	Controlword	UNSIGNED16	rw	M
6041.0H	VAR	Statusword	UNSIGNED16	ro	M
607C.0H	VAR	Home_Offset	INTEGER32	rw	O
6098.0H	VAR	Homing_method	INTEGER8	rw	M
6099H	ARRAY	Homing speeds (number of entries)	UNSIGNED32	rw	M
609A.0H	VAR	Homing acceleration	UNSIGNED32	rw	O
6085.0H	VAR	Quick_Stop_deceleration	UNSIGNED32	rw	O
2080.0H	VAR	Preset_Homing_Position	INTEGER32	rw	O
2081.0H	VAR	Drive_Homing_Inputs_Setting	UNSIGNED32	rw	O