Command: Arm Home (50)

Supported Axes:

Quadrature, SSI, Resolver

See the Commands Overview topic for basic command information and how to issue commands from PLCs, HMIs, etc.

Command Parameters

Parameter Description

Range

Home Position (position-units)

any

Trigger Type

#	Name	Available on
#	Name	RMC75	RMC150	RMC200
0	H Rising	QAx, Q1, SSI1	Quad, UI/O	Q4, D24, U14, ECAT
1	H Falling	QAx, Q1, SSI1	Quad, UI/O	Q4, D24, U14, ECAT
2	Z	QAx, SSI1	Quad, SSI1, Resolver1	Q4, D24, U14
3	Z And H	QAx, SSI1	Quad	Q4, D24, U14
4	Z And Not H	QAx, SSI1	Quad	Q4, D24, U14
5	Absolute Adjust (H Rising)	SSI1
6	Absolute Adjust (H Falling)	SSI1
7	Absolute Adjust (Immed)	SSI1	SSI1, Resolver1

1Valid only for axes configured as Incremental.

2Valid only for the D24 option One Quadrature Input (A,B,Z).

3The Trigger Types of Z And H (3) and Z And Not H (4) cannot be used when the Home Input command parameter is set to Reg/Z0 (0) or Reg/Z1 (0).

Integers 0 to 7

Repeat Mode:Single (0), Repeat(1)

0 or 1

Home Input:

RMC75:

#	QA1, QA2	MA1, MA2 SSI Homing
0	Home	Specified by the SSI Home Source parameter.

RMC150:

Quad

UI/O

Home

Channel 0: R0

Channel 1: R1

RMC200 Q4:

#	Inputs
0	Hm
1	Reg

RMC200 U14:

#	Channel 0	Channel 1
0	Reg/Z01	Reg/Z11
1	D02	D12

1 The Trigger Types of Z And H (3) and Z And Not H (4) cannot be used when the Home Input is set to Reg/Z0 (0) or Reg/Z1 (0).

2 Inputs D0 and D1 are not high-speed inputs, and will provide slower homing response than the Reg/Z inputs.

RMC200 D24:

#	One quadrature input (A,B,Z)	One quadrature input (A,A,B,B) with wire break detection	Two quadrature inputs, D20&D21	Two quadrature inputs, D22&D23
0	D22	D18	D18	D16
1	D23	D19	D19	D17
2	D18	n/a	n/a	D18
3	D19	n/a	n/a	D19

Note: Inputs D16-D19 are not high-speed inputs, and will provide slower homing response than inputs D22-23.

RMC200 EtherCAT Drive with CiA402 Touch Probe:

#	Name	Touch Probe	Trigger
0	TP1 In	1	Touch probe 1 input
1	TP1 Z	1	Zero (Z) pulse
2	TP1 Obj	1	Source defined by object 0x60D0:01
3	TP2 In	2	Touch probe 2 input
4	TP2 Z	2	Zero (Z) pulse
5	TP2 Obj	2	Source defined by object 0x60D0:02

Integers 0 to 3

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 command parameter provides 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). 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.