Homing Parameters

Homing parameters are parameters related to homing operations. These parameters are set using functions such as SetParam and SetHomeParam.

The Gantry Homing value specifies which axis the parameter is taken from during gantry homing. Parameters with Master/Slave will use the slave axis parameter for the slave axes and the master axis parameter for the master axis. Parameters with Master will use the master axis parameter for both master and slave axes.

This page contains explanations for the following homing parameters:

• Home Type

• Home Direction

• Homing Velocity Slow

• Homing Velocity Slow Acc

• Homing Velocity Slow Dec

• Homing Velocity Fast

• Homing Velocity Fast Acc

• Homing Velocity Fast Dec

• Homing Reverse Distance

• Home Shift Velocity

• Home Shift Acc

• Home Shift Dec

• Home Shift Distance

• Invert HS Polarity

• Multiple Z-Pulse

• Round Pos Cmd After Homing

• Pause Mode

• Max HS On At Start Reverse Distance

• Max LS Reverse Distance

• Z-Pulse Distance Check

• Home Position

• Gantry Homing Use Slave HS

• Gantry Homing Use Slave LS

• Gantry Homing Use Slave Z-Pulse

• Gantry Homing Use Slave Touch Probe

• Gantry Homing Use Slave Mechanical End

• Gantry Homing Retain Sync Offset

• Immediate Stop at LS

• Mechanical End Detection Pos Diff

• Mechanical End Detection Time Milliseconds

• Mechanical End Detection Ignore LS

• Mechanical End Detection First Torque Limit

• Mechanical End Detection Second Torque Limit

• Open Loop Homing

• Clear Home Done On Servo Off

• Clear Home Done On Comm Stop

Home Type
Variable Name:	homeType
Type:	HomeType
Default Value:	CurrentPos
Gantry Homing:	Master

The method of homing during a home operation. Each method is explained in detail in Homing.

Home Direction
Variable Name:	homeDirection
Type:	HomeDirection
Default Value:	Positive
Gantry Homing:	Master

The direction to search for the home position during a home operation. This direction is the homing direction and the opposite direction is the reverse direction in the discussion in Homing.

Homing Velocity Slow
Variable Name:	homingVelocitySlow
Type:	double
Unit:	user unit / second
Minimum Value:	1e-6
Maximum Value:	274877906943
Default Value:	10000
Gantry Homing:	Master

The “slow” homing velocity to use during a home operation. See Homing for information on when the “slow” homing velocity is used for each home type.

Homing Velocity Slow Acc
Variable Name:	homingVelocitySlowAcc
Type:	double
Unit:	user unit / second^2
Minimum Value:	1e-6
Maximum Value:	274877906943
Default Value:	10000
Gantry Homing:	Master

The acceleration to use when accelerating to the “slow” homing velocity. See Homing for information on when the “slow” homing velocity is used for each home type.

Homing Velocity Slow Dec
Variable Name:	homingVelocitySlowDec
Type:	double
Unit:	user unit / second^2
Minimum Value:	1e-6
Maximum Value:	274877906943
Default Value:	10000
Gantry Homing:	Master

The deceleration to use when decelerating from the “slow” homing velocity. See Homing for information on when the “slow” homing velocity is used for each home type.

Homing Velocity Fast
Variable Name:	homingVelocityFast
Type:	double
Unit:	user unit / second
Minimum Value:	1e-6
Maximum Value:	274877906943
Default Value:	10000
Gantry Homing:	Master

The “fast” homing velocity to use during a home operation. See Homing for information on when the “fast” homing velocity is used for each home type.

Homing Velocity Fast Acc
Variable Name:	homingVelocityFastAcc
Type:	double
Unit:	user unit / second^2
Minimum Value:	1e-6
Maximum Value:	274877906943
Default Value:	10000
Gantry Homing:	Master

The acceleration to use when accelerating to the “fast” homing velocity. See Homing for information on when the “fast” homing velocity is used for each home type.

Homing Velocity Fast Dec
Variable Name:	homingVelocityFastDec
Type:	double
Unit:	user unit / second^2
Minimum Value:	1e-6
Maximum Value:	274877906943
Default Value:	10000
Gantry Homing:	Master

The deceleration to use when decelerating from the “fast” homing velocity. See Homing for information on when the “fast” homing velocity is used for each home type.

Homing Reverse Distance
Variable Name:	homingReverseDistance
Type:	double
Unit:	user unit
Minimum Value:	0
Maximum Value:	274877906943
Default Value:	0
Gantry Homing:	Master

The distance to continue reversing after clearing the home switch during a home operation. The home switch is cleared after the first home switch search of a HSHS or HSTouchProbe home operation.

Home Shift Velocity
Variable Name:	homeShiftVelocity
Type:	double
Unit:	user unit / second
Minimum Value:	1e-6
Maximum Value:	274877906943
Default Value:	10000
Gantry Homing:	Master/Slave

The velocity to use to move the axis to the home position after the home position is found. If the Home Shift Distance parameter is large, the home position may be far from the axis position when the home position is found. Even if the Home Shift Distance parameter is 0, the axis will still need to execute a home shift motion because the axis will not be exactly at the home position after it stops from the velocity it was at when searching for the home position.

Home Shift Acc
Variable Name:	homeShiftAcc
Type:	double
Unit:	user unit / second^2
Minimum Value:	1e-6
Maximum Value:	274877906943
Default Value:	10000
Gantry Homing:	Master/Slave

The acceleration to use when accelerating to the Home Shift Velocity.

Home Shift Dec
Variable Name:	homeShiftDec
Type:	double
Unit:	user unit / second^2
Minimum Value:	1e-6
Maximum Value:	274877906943
Default Value:	10000
Gantry Homing:	Master/Slave

The deceleration to use when decelerating from the Home Shift Velocity.

Home Shift Distance
Variable Name:	homeShiftDistance
Type:	double
Unit:	user unit
Minimum Value:	-274877906943
Maximum Value:	274877906943
Default Value:	10000
Gantry Homing:	Master/Slave

The distance to shift the home position after it is found. A positive value indicates a shift in the direction of homing and a negative value indicates a shift in the reverse direction (the direction of homing is determined by the Home Direction parameter). The shifted home position becomes the actual home position.

Invert HS Polarity
Variable Name:	invertHSPolarity
Type:	bool
Default Value:	FALSE
Gantry Homing:	Master/Slave

If set to FALSE, the home switch will be active high. If set to TRUE, the home switch polarity will be inverted and become active low.

Multiple Z-Pulse
Variable Name:	multipleZPulse
Type:	unsigned int
Minimum Value:	0
Maximum Value:	100
Default Value:	0
Gantry Homing:	Master

For home types that search for the Z-pulse (index pulse), the number of Z-pulses to search for. If set to 0 or 1, the home position will be set to the position of the first Z-pulse that is found. If set to a value greater than 1, the home position will be set to the position after that many Z-pulses have been found.

Round Pos Cmd After Homing
Variable Name:	roundPosCmdAfterHoming
Type:	bool
Default Value:	FALSE
Gantry Homing:	Master/Slave

Whether to round the command position to the nearest whole number after homing. If set to FALSE, decimal user units of the command position will remain after homing. If set to TRUE, decimal user units of the command position will be rounded to the nearest whole number after homing. This does not change the home position; it will only adjust the command position (the same as if a position command to the rounded position is executed).

Pause Mode
Variable Name:	pauseMode
Type:	bool
Default Value:	FALSE
Gantry Homing:	Master

Whether to pause the homing operation when the axis changes direction or momentarily stops during homing. While the homing operation is paused, the axis servo may be turned on or off without canceling the home operation. To continue the homing operation from the paused state, call the Continue function.

Max HS On At Start Reverse Distance
Variable Name:	maxHSOnAtStartReverseDistance
Type:	double
Unit:	user unit
Minimum Value:	0
Maximum Value:	274877906943
Default Value:	0
Gantry Homing:	Master

For home types that search for the home switch, if the home switch is already on when homing is started, the axis will move in the reverse homing direction to clear the home switch. This parameter determines the maximum distance that the axis can reverse to clear the home switch. If this distance is exceeded, the axis will stop and register a home error. If this parameter is set to 0, there is no limit to the reverse travel distance.

Max LS Reverse Distance
Variable Name:	maxLSReverseDistance
Type:	double
Unit:	user unit
Minimum Value:	0
Maximum Value:	274877906943
Default Value:	0
Gantry Homing:	Master

For home types that search for the home switch, if the limit switch is triggered while searching for the home switch or touch probe, the axis will reverse until the falling edge of the home switch is found. This parameter determines the maximum distance the axis can reverse to find the falling edge of the home switch. If this distance is exceeded, the axis will stop and register a home error. If this parameter is set to 0, there is no limit to the reverse travel distance.

Z-Pulse Distance Check
Variable Name:	zPulseDistanceCheck
Type:	unsigned int
Unit:	user unit
Minimum Value:	0
Maximum Value:	274877906943
Default Value:	0
Gantry Homing:	Master

If set to a non-zero value, whenever a homing procedure that searches for multiple Z-pulses (index pulses) is executed, the distance between successive Z-pulses is checked. If the distance does not equal the distance specified in this parameter, a home error will be registered.

Home Position
Variable Name:	homePosition
Type:	double
Unit:	user unit
Minimum Value:	-274877906943
Maximum Value:	274877906943
Default Value:	0
Gantry Homing:	Master/Slave

The command position at the home position. At the end of homing, the axis will be at the home position with a command position equal to this value. This effectively shifts the zero position. The difference between this parameter and the Home Shift Distance is that the axis does not move by the shift amount at the end of homing.

Gantry Homing Use Slave HS
Variable Name:	gantryHomingUseSlaveHS
Type:	bool
Default Value:	FALSE
Gantry Homing:	Master

This parameter only affects gantry homing. If this parameter is set to TRUE, the homing procedure will search for the slave axis home switches in addition to the home switch of the master axis. If this parameter is set to FALSE, the homing procedure will only search for the master axis home switch.

Gantry Homing Use Slave LS
Variable Name:	gantryHomingUseSlaveLS
Type:	bool
Default Value:	FALSE
Gantry Homing:	Master

This parameter only affects gantry homing. If this parameter is set to TRUE, the homing procedure will search for the slave axis limit switches in addition to the limit switch of the master axis. If this parameter is set to FALSE, the homing procedure will only search for the master axis limit switch.

Gantry Homing Use Slave Z-Pulse
Variable Name:	gantryHomingUseSlaveZPulse
Type:	bool
Default Value:	FALSE
Gantry Homing:	Master

This parameter only affects gantry homing. If this parameter is set to TRUE, the homing procedure will search for the slave axis Z-pulses (index pulses) in addition to the Z-pulse of the master axis. If this parameter is set to FALSE, the homing procedure will only search for the master axis Z-pulse.

Gantry Homing Use Slave Touch Probe
Variable Name:	gantryHomingUseSlaveTouchProbe
Type:	bool
Default Value:	FALSE
Gantry Homing:	Master

This parameter only affects gantry homing. If this parameter is set to TRUE, the homing procedure will search for the slave axis touch probes in addition to the touch probe of the master axis. If this parameter is set to FALSE, the homing procedure will only search for the master axis touch probe.

Gantry Homing Use Slave Mechanical End
Variable Name:	gantryHomingUseSlaveMechanicalEnd
Type:	bool
Default Value:	FALSE
Gantry Homing:	Master

This parameter only affects gantry homing. If this parameter is set to TRUE, the homing procedure will search for the slave axis mechanical ends in addition to the mechanical end of the master axis. If this parameter is set to FALSE, the homing procedure will only search for the master axis mechanical end.

Gantry Homing Retain Sync Offset
Variable Name:	gantryHomingRetainSyncOffset
Type:	bool
Default Value:	FALSE
Gantry Homing:	Master

This parameter only affects gantry homing. If this parameter is set to TRUE, during the homing procedure, the sync offset between the master and slave is never broken. Depending on other parameters, the slave home positions may be searched, but they will be ignored after they are found, and the slave axes will follow the master axis to its home position instead.

Immediate Stop at LS
Variable Name:	immediateStopAtLS
Type:	bool
Default Value:	FALSE
Gantry Homing:	Master

If this parameter is set to TRUE, and the home type uses limit switches, the axis will immediately stop after detecting the limit switch, with infinite deceleration. No position command beyond the position where the limit switch was detected will be sent to the servo. This parameter is for servos that ignore position commands beyond the limit switch after the limit switch is detected. Enabling this parameter can reduce the time taken for the homing operation to complete, as no time is spent sending position commands that the servo will ignore anyway.

Mechanical End Detection Pos Diff
Variable Name:	mechanicalEndDetectionPosDiff
Type:	double
Unit:	user unit
Minimum Value:	0
Maximum Value:	274877906943
Default Value:	0
Gantry Homing:	Master/Slave

This parameter only affects mechanical end detection home types. When the axis presses against the mechanical end, the home position will be detected when the difference between the command position and feedback position exceeds this parameter for Mechanical End Detection Time Milliseconds.

Mechanical End Detection Time Milliseconds
Variable Name:	mechanicalEndDetectionTimeMilliseconds
Type:	double
Unit:	milliseconds
Minimum Value:	0
Maximum Value:	274877906943
Default Value:	0
Gantry Homing:	Master/Slave

This parameter only affects mechanical end detection home types. The home position will be detected when the difference between the command position and feedback position exceeds the Mechanical End Detection Pos Diff for the amount of time specified in this parameter.

Mechanical End Detection Ignore LS
Variable Name:	mechanicalEndDetectionIgnoreLS
Type:	bool
Default Value:	FALSE
Gantry Homing:	Master

This parameter only affects mechanical end detection home types, and it does not affect the MechanicalEndDetectionLS home type. When this parameter is set to TRUE, the limit switch in the direction of homing will be ignored if triggered. (Depending on the servo hardware and settings, the servo may still perform some action when the limit switch is triggered, such as generate an amp alarm.)

Mechanical End Detection First Torque Limit
Variable Name:	mechanicalEndDetectionFirstTorqueLimit
Type:	double
Unit:	%
Minimum Value:	0
Maximum Value:	274877906943
Default Value:	0
Gantry Homing:	Master/Slave

This parameter only affects mechanical end detection home types (MechanicalEndDetection, MechanicalEndDetectionHS, MechanicalEndDetectionLS, and MechanicalEndDetectionReverseZPulse).

If this parameter is set to a non-zero value and the axis supports torque limits, the cyclic torque limit (max, positive, and negative) will be set to this value while homing using the above home types (the Max Trq Limit, Positive Trq Limit, and Negative Trq Limit parameters will be ignored).

For the MechanicalEndDetectionHS and MechanicalEndDetectionLS home types, this parameter will only affect the torque limit before the home switch or limit switch is found. After the home switch or limit switch is found, the torque limit is set to the value of Mechanical End Detection Second Torque Limit.

Mechanical End Detection Second Torque Limit
Variable Name:	mechanicalEndDetectionSecondTorqueLimit
Type:	double
Unit:	%
Minimum Value:	0
Maximum Value:	274877906943
Default Value:	0
Gantry Homing:	Master/Slave

This parameter only affects the MechanicalEndDetectionHS and MechanicalEndDetectionLS home types.

If this parameter is set to a non-zero value and the axis supports torque limits, the cyclic torque limit (max, positive, and negative) will be set to this value while homing using the above home types, after the home switch or limit switch has been found (the Max Trq Limit, Positive Trq Limit, and Negative Trq Limit parameters will be ignored).

Open Loop Homing
Variable Name:	openLoopHoming
Type:	bool
Default Value:	FALSE
Gantry Homing:	Master/Slave

If set to FALSE, homing will be executed normally. If set to TRUE, the command position will be used instead of the feedback position to determine the home position. This parameter does not affect homing that uses the Z-pulse (index pulse) or touch probe, as these home types do not use the position feedback when determining the home position.

Clear Home Done On Servo Off
Variable Name:	clearHomeDoneOnServoOff
Type:	bool
Default Value:	FALSE
Gantry Homing:	Master

If set to TRUE, the home done status will be cleared (set to 0) when the axis servo is in the servo off state. If set to FALSE, the home done status will not change when the axis servo is in the servo off state.

Clear Home Done On Comm Stop
Variable Name:	clearHomeDoneOnCommStop
Type:	bool
Default Value:	TRUE
Gantry Homing:	Master

If set to TRUE, the home done status will be cleared (set to 0) for all axes when the communication with the servo network is stopped. If set to FALSE, the home done status will not change when the communication with the servo network is stopped.