MechanicalEndDetection

When the home type is MechanicalEndDetection, the axis will search for the mechanical end in the homing direction. When the axis pushes against the mechanical end, the feedback position will stop changing but the command position will continue to change. When the difference between the command position and the feedback position exceeds Mechanical End Detection Position Difference for Mechanical End Detection Time Milliseconds time, the feedback position becomes the home position.

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.