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FM-3 Programming Module Reference Manual
home position. When the home reference is 'Marker' the rising edge of the motor encoder's
marker channel is used to establish the home position. When the home reference is 'Sensor
then Marker' the home position is established using the first marker rising edge after the
Home.#.SensorTrigger destination activates.
Time Base
Selects the Time Base for the home move velocity and acceleration/deceleration. Realtime
and Synchronized are the allowed selections.
Velocity
Sets the target velocity for the home. The polarity determines the home direction. Positive
numbers cause motion in the positive direction and negative numbers cause motion in the
negative direction in search of the home reference.
Acceleration
Average Acceleration rate used during the home. Units are specified on the User Units View.
Deceleration
This is the average Deceleration rate used at the end of the Home move in user units.
If on sensor... Group
These radio buttons determine how the system reacts if the Home.#.SensorTrigger is already
active when the home is initiated.
’Back off before homing’ Radio Button
If this radio button is set, the drive will back off the sensor before beginning the home. It does
this by moving the direction opposite to that specified by the sign of the home velocity. It
continues moving in this direction at the target home velocity until the sensor goes
deactivates. The motor then decelerates to a stop and performs a standard home.
’Go forward to next sensor’ Radio Button
If this radio button is set, then the system will ignore the sensor that is active when the home
is initiated, and move in the proper direction until the first low to high transition of the Home
Reference signal.
Home Offset Group
The Home Offset group has two buttons, the calculated Offset Radio Button and the Specified
Offset Radio Button.
Calculated Offset Radio Button
The calculated offset is defined as the distance traveled during deceleration ramp from the
home velocity to a stop plus the distance traveled at the home velocity for 1600µs. This extra