HS

When the home type is HS, the axis will search for the home switch in the homing direction, and sets the axis feedback position on the cycle that the home switch was found as the home position.

If the limit switch is found before the home switch, the axis will reverse to find the falling edge of the home switch (see Limit Switches During Homing).

If the home switch is already on at the beginning of homing, the axis will reverse to find the falling edge of the home switch (see Home Switch is Initially On).

State Diagram

The following state diagram shows the Home States of this homing procedure.

Position Diagram

The following position diagram shows an example of the motion of the axis during this homing procedure.

Profile

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

Position Diagram - Home Switch is Initially On

The following position diagram shows an example of the motion of the axis if the home switch is on at the beginning of homing.

Profile - Home Switch is Initially On

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