ZPulse

When the home type is ZPulse, the axis will search for the Z-pulse (index pulse) in the homing direction, and sets the position of the first Z-pulse found as the home position.

The Z-pulse position is latched by the servo drive, and is typically more precise than home positions obtained by home switch or limit switch homing. However, homing must be started at the correct position, as the Z-pulse will be detected every rotation of the servo motor. Homing that uses the Z-pulse typically use home switches, limit switches, or other means to orient the axis before searching for the Z-pulse (for example, see HSReverseZPulse ).

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.

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.