Delta RMC151 - Manual (Page 846)

RMC70/150 and RMCTools User Manual
1 H Falling QAx, Q1,
SSI*
Quad, UI/O
2 Z QAx, SSI* Quad, SSI*,
Resolver*
3 Z And H QAx, SSI* Quad
4 Z And Not H QAx, SSI* Quad
5 Absolute Adjust (H
Rising)
SSI*
6 Absolute Adjust (H
Falling)
SSI*
7 Absolute Adjust
(Immed)
SSI* SSI*, Resolver*
3 Repeat Mode: Single (0), Repeat(1) 0 or 1
*Valid only for axes configured as Incremental.
Description
This command enables the trigger for homing the axis. This command will clear the Home
Latched status bit, and set the Home Armed status bit. The home will remain armed until
the home trigger condition occurs or the Disarm Home (51) command is issued.
If a home trigger condition occurs when the home is armed, the following occurs:
• The Home Latched bit is set. Notice that in Repeat mode, the Home Latched bit may
already have been set.
• The Actual Position is set to the Home Position, with the Target and Command
Positions, if available on this axis type, being adjusted the same amount. The offset is
done by adjusting the accumulated Actual Position and the Target and Command
Positions.
• Unless this command was issued in Repeat mode, the Home Armed status bit is
cleared.
• The Home event is logged in the Event Log.
The Trigger Types provide numerous options for triggering a home. The most common
Trigger Type is H Rising (rising edge of the Home input) or H Falling (falling edge of
the Home input).
On the RMC70 QAx and RMC150 Quadrature (Q) modules, the home input is a dedicated
input labeled Home. On the RMC70 Q1 module, the Home input is the Reg input. On an
RMC70's SSI incremental axis, the home input is specified by the SSI Home Source
parameter. SSI and Resolver axes on the RMC150 have no home input.
See the Homing for more details on what the trigger types mean.
Errors
If the Index (Z) Wire Break error bit is on at any time while the home is armed, it will
cause an axis Runtime error.
8.7.2. Command: Disarm Home (51)
Supported Axes: Quadrature, SSI, Resolver
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