Limit Switch is Initially On

For home types that search for the limit switch, if the limit switch is already on when homing is started, the axis will reverse to clear the limit switch. The procedure for each applicable home type is as follows.

LSReverseZPulse, NearLSReverseZPulse, ExternalLSReverseZPulse, LS, NearLS, ExternalLS

If the limit switch is already triggered when homing is initiated, the axis will move in the direction opposite to the homing direction until the limit switch is off. Then, an additional Homing Reverse Distance is traveled. Then, the axis will start the normal homing procedure.

State Diagram

The following state diagram shows the procedure when the limit 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 limit switch is on at the start of homing.

Profile

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