Hm (home), To search for both, Motion – Yaskawa SMC–4000 User Manual
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SMC–4000 User Manual
HM (Home)
[Motion]
DESCRIPTION:
The HM command performs a three-stage homing sequence.
The first stage is the motor moving at the user programmed speed until detecting a transition on the Home
input. The direction for this first stage is determined by the initial state of the Home input. Once the Home
input changes, the motor decelerates to a stop. The state of the Home input can be configured using the
command.
The second stage consists of the motor changing directions and slowly approaching the transition again.
When the transition is detected, the motor is stopped instantaneously.
The third stage consists of the motor slowly moving forward until it detects an index pulse from the
encoder. It stops at this point and defines it as position 0.
ARGUMENTS: HM XYZW or ABCD
USAGE:
OPERAND USAGE:
_HMn contains the state of the Home input. Regardless of the limit switch polarity, where n is an axis
letter,
0 always means the home input is active, 1 means inactive.
RELATED COMMANDS:
EXAMPLES:
HINT:
You can customize homing sequence by using the
and
commands.
While Moving
No
Default Value
---
In a Program
Yes
Default Format
---
Command Line
Yes
Can be Interrogated
No
Used as an Operand
Yes
Virtual Axis
No
HM
Set Homing Mode
BG
Begin Homing