LSReverseZPulse

When the home type is LSReverseZPulse, the axis will search for the limit switch in the homing direction. After detecting the limit switch, the axis stops and reverses direction to search for the falling edge of the limit switch and then the first Z-pulse after it.

The limit switch must be placed at a carefully selected position so that the rising edge does not coincide with the Z-pulse. If the rising edge of the limit switch and the Z-pulse are at the same position, the same home position might not be detected every time as the homing routine may detect either that Z-pulse or the next Z-pulse as the home position.

To latch the Z-pulse, the servo must support this feature and the system must be configured to send the signal to latch the Z-pulse and receive the latched position. For additional information, refer to the section explaining the Platform Module in use.

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

Homing can still be completed even if the LS Type parameter is set to None.

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 - Limit Switch is Initially On

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

Profile - Limit Switch is Initially On

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