MechanicalEndDetectionReverseZPulse

When the home type is MechanicalEndDetectionReverseZPulse, the axis will search for the mechanical end in the homing direction. The command position will start to deviate from the feedback position when the axis reaches 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, the axis will stop and search for the Z-pulse in the reverse direction. The position of the first Z-pulse that is found becomes 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 example, the EtherCAT platform requires the ENI file for that servo to contain objects 0x60B8, 0x60B9, and 0x60BA. For additional information, see the EtherCAT Platform section.

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.