# Menu 40 − AMC Homing System

Mode: RFC‑A

Homing system

Parameter | 40.001 AMC Home Direction
--- | ---
Short description |
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

The AMC Home Direction (40.001) is used to select the direction of movement to the freeze input associated with the slave position source, where 0 is forwards and 1 is backwards.

Parameter | 40.002 AMC Home Mode
--- | ---
Short description |
Mode | RFC‑A
Minimum | 0 | Maximum | 8
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

The homing sequence always runs at a sample rate of 4ms and cannot be changed using AMC Rate Select (31.012). Homing begins when AMC Reference Select (34.007) is set to 5 and the motion controller is enabled. The following sequence then occurs.

Homing Phase

1. AMC Home Complete (40.005) and AMC Home Offset Complete (40.008) are reset to 0
2. A speed reference with a magnitude defined by AMC Home Maximum Speed (40.003) is applied to the profile generator until the home position is detected. During the homing phase the direction of movement is controlled by AMC Home Mode (40.002) and AMC Home Direction (40.001).
3. If AMC Home On Freeze (40.011) = 1 the home position is set to the AMC Slave Freeze Position (33.006) or when AMC Home On Freeze (40.011) = 0 the home position is set to AMC Slave Position (33.004) in the sample after the home event, i.e. the correct transition has been detected.
4. The difference between AMC Home Position (40.004) and the home position above is added to AMC Slave Offset (33.003). This has the effect of making AMC Slave Position (33.004) equal to AMC Home Position (40.004) at the physical home position. The profile output position is automatically adjusted to prevent any position transients.
5. AMC Home Complete (40.005) is set to 1.

Reset Phase

1. The homing reference becomes a position reference instead of a speed reference and the target position is set to AMC Home Position (40.004) + AMC Home Offset Position (40.007). The system will move towards the position reference, which is the position relative to the home position, with the maximum speed limited to AMC Home Offset Maximum Speed (40.006).
2. AMC Home Offset Complete (40.008) is set to 1 and AMC Reference Select (34.007) is set to 0 when |(AMC Home Position (40.004) + AMC Home Offset Position (40.007)) - AMC Slave Position (33.004)| ≤ AMC Home Complete Window (40.010).

The table below shows a summary of the actions performed by AMC Home Switch (40.012), AMC Home Positive Limit (40.013) and AMC Home Negative Limit (40.014) in each mode. If the positive or negative limits are not required to complete the homing sequence and a limit is reached (state = 1) before the home position has been detected or while moving to the reset position then AMC Reference Select (34.007) is set to 0 (stop) to force the system to stop.

AMC Home Mode (40.002) | Slave Freeze Flag | AMC Home Switch (40.012) | AMC Home Positive Limit (40.013) | AMC Home Negative Limit (40.014)
0 | Not used | Home position = AMC Slave Position (33.004) | Home backwards | Home forwards
1 | Home position = AMC Slave Position (33.004) | Not used | Force stop* | Force stop*
2 | Home position = AMC Slave Position (33.004) when AMC Home On Freeze = 1 | Not used | Home position = AMC Slave Position (33.004) when AMC Home On Freeze = 0 | Force stop*
3 | Home position = AMC Slave Position (33.004) when AMC Home On Freeze = 1 | Not used | Force stop* | Home position = AMC Slave Position (33.004) when AMC Home On Freeze = 0
4 | Home position = AMC Slave Position (33.004) when AMC Home On Freeze = 1 | Home position = AMC Slave Position (33.004) when AMC Home On Freeze = 0 | Force stop* | Force stop*
5 | Home position = AMC Slave Position (33.004) when AMC Home On Freeze = 1 | Home position = AMC Slave Position (33.004) when AMC Home On Freeze = 0 | Home backwards | Force stop*
6 | Home position = AMC Slave Position (33.004) when AMC Home On Freeze = 1 | Home position = AMC Slave Position (33.004) when AMC Home On Freeze = 0 | Home backwards | Force stop*
7 | Home position = AMC Slave Position (33.004) when AMC Home On Freeze = 1 | Home position = AMC Slave Position (33.004) when AMC Home On Freeze = 0 | Force stop* | Home forwards
8 | Home position = AMC Slave Position (33.004) when AMC Home On Freeze = 1 | Home position = AMC Slave Position (33.004) when AMC Home On Freeze = 0 | Force stop* | Home forwards

* If the limit becomes active during the homing sequence AMC Reference Select (34.007) is set to 0 and the slave will stop under the constraints defined by AMC Stop Mode (34.001).

If the freeze flag for the slave source is used as the home event the home position is set to AMC Slave Freeze Position (33.006) and AMC Home Maximum Speed (40.003) will not have any influence on the accuracy of the home position. However, if AMC Home Switch (40.012) is used as the home event the home position is set to AMC Slave Position (33.004) in the sample after the home event occurs. The time between when the home event occurs and the home position is set to AMC Slave Position (33.004) will be no more than one complete sample (4ms) and the home position will be within 4ms × AMC Home Maximum Speed (40.003) of the physical home position.

Homing Modes

The direction of movement during the homing sequence is controlled by AMC Home Mode (40.002) and AMC Home Direction (40.001). The homing sequence for each mode is described in more detail below. In each example it is assumed that the slave feedback device is connected to the drives P1 interface and uses F1 Freeze Flag (03.104) as the freeze source. The actual freeze flag used during the homing sequence is defined by AMC Slave Source Select (33.001) and AMC Slave Freeze Select (33.007).

Symbol | Description
| Slave position at the beginning of the home sequence
| Slave moving in a positive direction
| Slave moving in a negative direction
| Home to AMC Home Switch (40.012), AMC Home Positive Limit (40.013) or AMC Home Negative Limit (40.014) is complete when a positive transition is detected and the slave is moving in a positive direction or a negative transition is detected and the slave is moving in a negative direction
| Home to AMC Home Switch (40.012), AMC Home Positive Limit (40.013) or AMC Home Negative Limit (40.014) is complete when a negative transition is detected and the slave is moving in a positive direction or a positive transition is detected and the slave is moving in a negative direction
| Positive freeze flag transition

Mode 0 - Manual

In manual mode the direction of movement is controlled by AMC Home Positive Limit (40.013) and AMC Home Negative Limit (40.014). When AMC Home Negative Limit (40.014) is set to 1 a positive homing reference is applied to the profile generator and when AMC Home Positive Limit (40.013) is set to 1 a negative reference is applied. If both limits are set at the same time the homing reference is set to 0 and the slave will profile to a stop. The home position is set to AMC Slave Position (33.004) when a positive transition of AMC Home Switch (40.012) is detected.

Mode 1 - Home on freeze flag

The slave will move in the direction defined by AMC Home Direction (40.001) until a positive transition of F1 Freeze Flag (03.104) is detected. The home position is then set to AMC Slave Position (33.004). Note that F1 Freeze Flag (03.104) is reset at the beginning of the homing sequence.

Mode 2 - Home on positive limit

If AMC Home Positive Limit (40.013) = 0 when the homing sequence begins the slave will move forwards until a positive transition of AMC Home Positive Limit (40.013) is detected otherwise when AMC Home Positive Limit (40.013) = 1 the slave will move backwards until a negative transition of AMC Home Positive Limit (40.013) is detected. If AMC Home On Freeze (40.011) = 0 the home position is set to AMC Slave Position (33.004) at the transition of AMC Home Positive Limit (40.013) or when AMC Home On Freeze (40.011) = 1 the freeze flag is reset and the slave will move in the direction defined by AMC Home Direction (40.001) until a positive transition of F1 Freeze Flag (03.104) is detected. The home position is then set to AMC Slave Freeze Position (33.006).

Mode 3 - Home on negative limit

If AMC Home Negative Limit (40.014) = 0 when the homing sequence begins the slave will move backwards until a positive transition of AMC Home Negative Limit (40.014) is detected otherwise when AMC Home Negative Limit (40.014) = 1 the slave will move forwards until a negative transition of AMC Home Negative Limit (40.014) is detected. If AMC Home On Freeze (40.011) = 0 the home position is set to AMC Slave Position (33.004) at the transition of AMC Home Negative Limit (40.014) or when AMC Home On Freeze (40.011) = 1 the freeze flag is reset and the slave will move in the direction defined by AMC Home Direction (40.001) until a positive transition of F1 Freeze Flag (03.104) is detected. The home position is then set to AMC Slave Freeze Position (33.006).

Mode 4 - Home on home switch

If AMC Home Switch (40.012) = 0 when the homing sequence begins the slave will move forwards until a positive transition of AMC Home Switch (40.012) is detected otherwise when AMC Home Switch (40.012) = 1 the slave will move backwards until a negative transition of AMC Home Switch (40.012) is detected. If AMC Home On Freeze (40.011) = 0 the home position is set to AMC Slave Position (33.004) at the transition of AMC Home Switch (40.012) or when AMC Home On Freeze (40.011) = 1 the freeze flag is reset and the slave will move in the direction defined by AMC Home Direction (40.001) until a positive transition of F1 Freeze Flag (03.104) is detected. The home position is then set to the AMC Slave Freeze Position (33.006).

Mode 5 and 6 - Home on home switch with positive limit

Homing modes 5 and 6 use the same general sequence but home to different sides of the active home region. When AMC Home Mode (40.002) = 5 the slave will home to the negative side of the home region and when AMC Home Mode (40.002) = 6 the slave will home to the positive side. The homing sequence for mode 5 is as follows.

If AMC Home Switch (40.012) = 0 when the homing sequence begins the slave will move forwards until a positive transition of AMC Home Switch (40.012) is detected otherwise when AMC Home Switch (40.012) = 1 the slave will move backwards until a negative transition of AMC Home Switch (40.012) is detected. If the slave is initially on the positive side of the active home region AMC Home Positive Limit (40.013) will be set to 1 before the home position is detected. If this happens the slave will move backwards until a negative transition of AMC Home Switch (40.012) is detected. If AMC Home On Freeze (40.011) = 0 the home position is set to AMC Slave Position (33.004) at the transition of AMC Home Switch (40.012) or when AMC Home On Freeze (40.011) = 1 the freeze flag is reset and the slave will move in the direction defined by AMC Home Direction (40.001) until a positive transition of F1 Freeze Flag (03.104) is detected. The home position is then set to AMC Slave Freeze Position (33.006).

Mode 7 and 8 - Home on home switch with negative limit

Homing modes 7 and 8 use the same general sequence but home to different sides of an active home region. When AMC Home Mode (40.002) = 7 the slave will home to the negative side of the home region and when AMC Home Mode (40.002) = 8 the slave will home to the positive side. The homing sequence for mode 8 is as follows.

If AMC Home Switch (40.012) = 0 when the homing sequence begins the slave will move backwards until a positive transition of AMC Home Switch (40.012) is detected otherwise when AMC Home Switch (40.012) = 1 the slave will move forwards until a negative transition of AMC Home Switch (40.012) is detected. If the slave is initially on the negative side of the active home region AMC Home Negative Limit (40.014) will be set to 1 before the home position is detected. If this happens the slave will move forwards until a negative transition of AMC Home Switch (40.012) is detected. If AMC Home On Freeze (40.011) = 0 the home position is set to AMC Slave Position (33.004) at the transition of AMC Home Switch (40.012) or when AMC Home On Freeze (40.011) = 1 the freeze flag is reset and the slave will move in the direction defined by AMC Home Direction (40.001) until a positive transition of F1 Freeze Flag (03.104) is detected. The home position is then set to the AMC Slave Freeze Position (33.006).

Parameter | 40.003 AMC Home Maximum Speed
--- | ---
Short description |
Mode | RFC‑A
Minimum | 0.00 | Maximum | VM_AMC_SPEED_UNIPOLAR
Default | 10.92 | Units | UU/ms
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 2
Coding | RW, VM

The default value of 10.92 UU/ms is the equivalent of 10rpm for a feedback device with 16 normalised position bits per revolution and a user unit ratio of unity.

See AMC Home Mode (40.002).

Parameter | 40.004 AMC Home Position
--- | ---
Short description |
Mode | RFC‑A
Minimum | −VM_AMC_POSITION | Maximum | VM_AMC_POSITION
Default | 0 | Units | UU
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, VM

The AMC Home Position (40.004) is the required AMC Slave Position (33.004) at the point where the homing sequence is complete (AMC Home Complete (40.005) = 1).

Parameter | 40.005 AMC Home Complete
--- | ---
Short description |
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See AMC Home Mode (40.002).

Parameter | 40.006 AMC Home Offset Maximum Speed
--- | ---
Short description |
Mode | RFC‑A
Minimum | 0.00 | Maximum | VM_AMC_SPEED_UNIPOLAR
Default | 10.92 | Units | UU/ms
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 2
Coding | RW, VM

The default value of 10.92 UU/ms is the equivalent of 10rpm for a feedback device with 16 normalised position bits per revolution and a user unit ratio of unity.

If AMC Home Offset Maximum Speed (40.006) = 0 then AMC Profile Maximum Speed (38.003) is used during the reset phase. See AMC Home Mode (40.002).

Parameter | 40.007 AMC Home Offset Position
--- | ---
Short description |
Mode | RFC‑A
Minimum | −VM_AMC_POSITION | Maximum | VM_AMC_POSITION
Default | 0 | Units | UU
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, VM

AMC Home Offset Position (40.007) is the position that the system should move to at the end of the homing sequence (AMC Home Complete (40.005) = 1) relative to the new home position. If AMC Home Offset Position (40.007) = 0 the slave will stop at AMC Home Position (40.004).

Parameter | 40.008 AMC Home Offset Complete
--- | ---
Short description |
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See AMC Home Mode (40.002).

Parameter | 40.009 AMC Home Maximum Allowed Move
--- | ---
Short description |
Mode | RFC‑A
Minimum | 0 | Maximum | VM_AMC_POSITION_UNIPOLAR
Default | 0 | Units | UU
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, VM

If the modulus of the change in AMC Slave Position (33.004) exceeds AMC Home Maximum Allowed Move (40.009) before the event required to indicate the home position occurs and AMC Home Maximum Allowed Move (40.009) > 0, the system is forced to stop by setting AMC Reference Select (34.007) to 0.

Parameter | 40.010 AMC Home Complete Window
--- | ---
Short description |
Mode | RFC‑A
Minimum | 0 | Maximum | VM_AMC_POSITION_UNIPOLAR
Default | 0 | Units | UU
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, VM

When the home position has been detected AMC Profile Input Position (38.006) is set to AMC Home Offset Position (40.007). The homing sequence is complete (AMC Home Offset Complete (40.008) = 1) when |AMC Profile Input Position (38.006) - AMC Slave Position (33.004)| ≤ AMC Home Complete Window (40.010).

Parameter | 40.011 AMC Home On Freeze
--- | ---
Short description |
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Read when homing is enabled
Display Format | Standard | Decimal Places | 0
Coding | RW

See AMC Home Mode (40.002).

Parameter | 40.012 AMC Home Switch
--- | ---
Short description |
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

See AMC Home Mode (40.002).

Parameter | 40.013 AMC Home Positive Limit
--- | ---
Short description |
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

See AMC Home Mode (40.002).

Parameter | 40.014 AMC Home Negative Limit
--- | ---
Short description |
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

See AMC Home Mode (40.002).

Parameter | 40.015 AMC Home Positive Limit Selector
--- | ---
Short description |
Mode | RFC‑A
Minimum | 0 | Maximum | 2
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

AMC Home Positive Limit (40.013) is used to indicate that the positive limit has been reached. If AMC Home Positive Limit Selector (40.015) is set to 0 then AMC Home Positive Limit (40.013) can be set by writing directly to the parameter or using bit 4 in AMC Control Word (41.019).

If AMC Home Positive Limit Selector (40.015) is set to 1 then AMC Home Positive Limit (40.013) is set to the output of the hard stop detector which is configured using AMC Home Hard Stop Torque Threshold (40.018) and AMC Home Hard Stop Delay Time (40.019).

If AMC Home Positive Limit Selector (40.015) is set to 2 then AMC Home Positive Limit (40.013) is set to AMC Positive Hardware Limit Flag (41.013). Note that when AMC Positive Hardware Limit Flag (41.013) is used as the positive limit for the homing sequence the positive hardware and software limits configured in AMC Control and Status (41) are disabled.

Parameter | 40.016 AMC Home Negative Limit Selector
--- | ---
Short description |
Mode | RFC‑A
Minimum | 0 | Maximum | 2
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

AMC Home Negative Limit (40.014) is used to indicate that the positive limit has been reached. If AMC Home Negative Limit Selector (40.016) is set to 0 then AMC Home Negative Limit (40.014) can be set by writing directly to the parameter or using bit 5 in AMC Control Word (41.019).

If AMC Home Negative Limit Selector (40.016) is set to 1 then AMC Home Negative Limit (40.014) is set to the output of the hard stop detector which is configured using AMC Home Hard Stop Torque Threshold (40.018) and AMC Home Hard Stop Delay Time (40.019).

If AMC Home Negative Limit Selector (40.016) is set to 2 then AMC Home Negative Limit (40.014) is set to AMC Negative Hardware Limit Flag (41.014). Note that when AMC Negative Hardware Limit Flag (41.014) is used as the negative limit for the homing sequence the negative hardware and software limits configured in AMC Control and Status (41) are disabled.

Parameter | 40.017 AMC Home Torque Limit Active
--- | ---
Short description |
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

AMC Home Torque Limit Active (40.017) is set to 1 when Final Torque Reference (04.003) ≥ AMC Home Hard Stop Torque Threshold (40.018). A hard stop is detected when AMC Home Torque Limit Active (40.017) has been continuously active for the AMC Home Hard Stop Delay Time (40.019). To allow the hard stop detector to perform the correct action in each AMC Home Mode (40.002) the home reference is used to differentiate between a positive and negative limit.

Parameter | 40.018 AMC Home Hard Stop Torque Threshold
--- | ---
Short description |
Mode | RFC‑A
Minimum | 0.0 | Maximum | 1000.0
Default | 0.0 | Units | %
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 1
Coding | RW

See AMC Home Torque Limit Active (40.017).

Parameter | 40.019 AMC Home Hard Stop Delay Time
--- | ---
Short description |
Mode | RFC‑A
Minimum | 0.000 | Maximum | 60.000
Default | 0.000 | Units | s
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 3
Coding | RW, BU

See AMC Home Torque Limit Active (40.017).

Parameter | 40.020 AMC Home Required
--- | ---
Short description |
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

AMC Home Required (40.020) can be used to prevent AMC Profile Input Position (38.006) from being changed until a home sequence has been completed.

If AMC Home Required (40.020) is enabled and AMC Home Slave Source (40.021) is not the same as AMC Slave Source Select (33.001) then AMC Profile Input Speed (38.007) is held at zero unless AMC Reference Select (34.007) is set to Home, i.e. no motion other than a home is possible until a home has been completed using the slave feedback device selected in AMC Slave Source Select (33.001). Under this condition AMC Home Required Flag (41.017) and the corresponding bit in AMC Status (41.002) are set to indicate that a home is required before a reference can be applied to the input of the profile generator.

When a home has been completed AMC Home Slave Source (40.021) is set to AMC Slave Source Select (33.001) and the following parameters are saved automatically if the position feedback is configured to be absolute.

Parameters saved
AMC Home Slave Source (40.021)
AMC Slave Offset (33.003)

AMC Home Slave Source (40.021) is automatically reset (None) forcing another home to be completed in the following conditions.

Reset conditions | AMC Home Slave Source (40.021) saved
Home reference is selected | No
Absolute mode is disabled after the motion controller has been initialised | Yes
AMC Slave Source Select (33.001) is changed | Yes
AMC Slave Source Select (33.001) is set to the P1 or P2 feedback interface on the drive and an encoder trip is detected on the feedback device selected by AMC Slave Source Select (33.001). Note that AMC Home Slave Source (40.021) is not automatically reset if an encoder trip is detected when an option module is used to provide the slave feedback. | Yes

Note that if AMC Home Required (40.020) is disabled then AMC Home Required Flag (41.017) and the corresponding bit in AMC Status (41.002) are reset.

Parameter | 40.021 AMC Home Slave Source
--- | ---
Short description |
Mode | RFC‑A
Minimum | -1 | Maximum | 9
Default | -1 | Units |
Type | 8 Bit User Save | Update Rate | Background write
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
-1 | None
0 | User Position
1 | Sensorless
2 | P1 Drive
3 | P2 Drive
4 | P1 Slot1
5 | P2 Slot1
6 | P1 Slot2
7 | P2 Slot2
8 | P1 Slot3
9 | P2 Slot3

See AMC Home Required (40.020).