Home Switch is Initially On
For home types that search for the home switch, if the home switch is already on when homing is started, the axis will reverse to clear the home switch. The procedure for each applicable home type is as follows.
If the home switch is already triggered when homing is initiated, the axis will move in the direction opposite to the homing direction until the home switch is off. Then, an additional Homing Reverse Distance is traveled. Then, the axis will start the normal homing procedure.
If the home switch is already triggered when homing is initiated, the axis will move in the direction opposite to the homing direction until the home switch is off. Then, an additional Homing Reverse Distance is traveled. Then, the axis will start the second home switch search.
If the home switch is already triggered when homing is initiated, the axis will move in the direction opposite to the homing direction until the home switch is off. Then, an additional Homing Reverse Distance is traveled. Then, the axis will start the touch probe search.
HSOff, HSOffZPulse, HSOffReverseZPulse
If the home switch is already triggered when homing is initiated, the homing procedure will start normally and the axis will search for the falling edge of the home switch in the homing direction.
However, if executing gantry homing (see Gantry Homing), and if the home switch is already triggered for one or more but not all of the sync axes when homing is initiated, and the Gantry Homing Use Slave HS parameter is enabled, the axes will move in the direction opposite to the homing direction until all home switches are off. Then, an additional Homing Reverse Distance is traveled. Then, the axes will start the normal homing procedure.
State Diagram
The following state diagram shows the procedure when the home switch is on at the start of homing for all of the above home types.
Position Diagram
The following position diagram shows the movement of the axis when the home switch is on at the start of homing.
Profile
The following are the velocity and acceleration plots for the above motion.
