Home Shift

After the home position is found, the axis will usually be in motion and must decelerate to a stop. After decelerating to a stop, the axis will move to the home position. The velocity, acceleration, and deceleration during this motion are specified with the Home Shift Velocity, Home Shift Acc, and Home Shift Dec parameters.

If the Home Shift Distance is nonzero, the home position will be shifted in the Home Direction (if Home Shift Distance is positive) or in the reverse direction (if Home Shift Distance is negative). After stopping, the axis will move to the shifted home position instead.

Home Shift Distance is Zero

The following position diagram shows an example of the motion of the axis during homing using the ZPulse home type.

The following are the velocity and acceleration plots for the above motion.

Home Shift Distance is Positive

The following position diagram shows an example of the motion of the axis during homing with a positive Home Shift Distance.

The following are the velocity and acceleration plots for the above motion.

Home Shift Distance is Negative

The following position diagram shows an example of the motion of the axis during homing with a negative Home Shift Distance.

The following are the velocity and acceleration plots for the above motion.