HSHS

When the home type is HSHS, the axis will search for the home switch in the homing direction at the Fast Homing Velocity. After detecting the home switch, the axis stops and reverses direction to search for the falling edge of the home switch, and then moves an additional Homing Reverse Distance. Afterwards, the axis will search for the home switch again at the Slow Homing Velocity.

The first home switch search is intended to find the general position of the home switch at a high velocity, and the second home switch search is intended to find a more precise position of the home switch at a slower velocity.

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 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.