Optima DMC-1xxx and DMC-18x2 Command Reference
HM
i
99
HM
FUNCTION: Home
DESCRIPTION:
The HM command performs a three-stage homing sequence for servo systems and two stage
sequence for stepper motor operation.
For servo motor operation: During first stage of the homing sequence, the motor moves at the
user programmed speed until detecting a transition on the homing input for that axis. The
direction for this first stage is determined by the initial state of the homing input. Once
the homing input changes state, the motor decelerates to a stop. The state of the homing
input can be configured using the CN command.
At the second stage, the motor change directions and slowly approach the transition again.
When the transition is detected, the motor is stopped instantaneously..
At the third stage, the motor slowly moves forward until it detects an index pulse from the
encoder. It stops at this point and defines it as position 0.
For stepper mode operation, the sequence consists of the first two stages. The frequency of
the motion in stage 2 is 256 cts/ sec.
USAGE: DEFAULTS:
While Moving
No
Default Value
In a Program
Yes
Default Format
Command Line
Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_HMn contains the state of the home switch for the specified axis
RELATED COMMANDS:
"FI "
Find Index Only
"FE "
Find Home Only
"
CN
" Configure
Home
EXAMPLES:
HM
Set Homing Mode for all axes
BG
Home all axes
BGA
Home only the A-axis
BGB
Home only the B-axis
BGC
Home only the C-axis
BGD
Home only the D-axis
Hint: You can create your own custom homing sequence by using the FE (Find Home Sensor only)
and FI (Find Index only) commands.
