Method LimitSwitch

This method uses a limit switch and optionally an index pulse and is shown in Method LimitSwitch (for positive home direction). Required configuration for method LimitSwitch describes the inputs that are required to have a connected signal for this method to operate. If the state of the limit switch is active, the direction is reversed. The position of the limit switch transition related to the desired home position is stored in signal TriggerPosition for positions A and C. The UserOffset signal is used to modify the HomeOffset.

After the home position has been found, the HomeOffset is updated as follows:

HomeOffset = - HomePosition + UserOffset

Method LimitSwitch (for positive home direction)

Required configuration for method LimitSwitch

Home pos	Input name	Signal
A	LimitSwitch	Actual signal of limit switch.
	IndexPulse	Actual signal of index pulse.
B	LimitSwitch	Actual signal of limit switch.
C	LimitSwitch	Actual signal of limit switch.
	IndexPulse	Actual signal of index pulse.

Signals

The signals for this homing method are given in Homing signals.

Homing signals

Name	Data type	R/W	Description
HomeDirection	Enum	RW	Direction of initial movement, see Homing directions for possible values.
HomeVelocity	Float	RW	Velocity used in state Homing for last move towards the desired home position. 0 \(\le\) HomeVelocity \(\le\) DemandVelocityLimit. The MaximumVelocity is used if set to 0.
InitialVelocity	Float	RW	Velocity used in state Homing for all moves except the final move towards the desired home position. 0 \(\le\) InitialVelocity \(\le\) DemandVelocityLimit. The MaximumVelocity is used if set to 0.
TriggerPosition	Double	R	Trigger position as stored during homing, relative to coordinate system after successful homing, used for methods LimitSwitchA and LimitSwitchC.

Run exceptions

The LimitSwitch homing method can fail with the run exceptions given in Homing run exceptions for method LimitSwitch.

Homing run exceptions for method LimitSwitch

Run Exception	Description
TimeoutException	The configured timeout was exceeded.
AbortedException	The homing procedure was aborted due to one of the following reasons: Axis left state Operation enabled, e.g. to Fault, during homing procedure. Homing procedure aborted by event response. The exact abort reason is given by the exception message available via the RunException property on the Homing interface.
OutOfResourcesException	No commands available during homing procedure.