Resulting behavior of the motor

The program results in the following behavior of the motor:

  1. With reference travel stHome.stConfig.diSearchVelocity (V1), the system moves in the direction of the target position stHome.stConfig.diPosition until the reference switch is passed.
  2. The system tne decelerates to to speed 0 with stHome.stConfig.diDeceleration and accelerates to stHome.stConfig.diAcceleration and in negative direction with speed diSearchVelocity (V1).
  3. If the reference switch is moved clear again, the system brakes again and accelerates in the positive direction to speed diClearVelocity (V2). Since diClearVelocity is used to approached the edge, a low value should be selected.
  4. When the sensor is reached again, the drive is stopped and the home position stHome.stConfig.diOffset is set.
    • stHome.stConfig.diOffset = stBasic.stOUT.diPosition
  5. The variable stInverter.stOUT.xTargetReached = TRUE shows that homing was performed.