MechanicalEndDetectionHS

This home type is identical to the MechanicalEndDetection home type, except there is an additional requirement that the home switch must be on at the mechanical end. When the difference between the command position and the feedback position exceeds Mechanical End Detection Position Difference for Mechanical End Detection Time Milliseconds time while the home switch is on, the feedback position becomes the home position.

Compared to the MechanicalEndDetection home type, this home type may help prevent the home position to be erroneously detected before reaching the mechanical end.

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.