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HOME.MODE 0 vs. HOME.SET

HOME.SET

When HOME.SET when executed it will set the commanded and current position equal ( PL.CMD an PL.FB respectively )  to the HOME.P value. HOME.P can be set by the Workbench Terminal, on the home screen in the “Position” field ( see below ) or over fieldbus if desired.

The nuance with HOME.SET is it will work whether the drive is enabled or not.

Also note the description from Workbench Help for the HOME.SET:

The HOME.SET command immediately homes the drive. The drive can be homed in an enabled or disabled state. Motion in the current mode of operation (DRV.OPMODE =0) or velocity mode of operation (DRV.OPMODE =1) is not affected by the HOME.SET command. Motion in the position mode of operation (DRV.OPMODE =2) is immediately aborted when the HOME.SET command is issued.

HOME.MODE 0-Use Current Position

Using the home routine 0-use current position ( as shown below ) and starting the home routine works in a very similar way.

The Position value on the Home screen ( which is HOME.P ) can be set to a non-zero value and on Start ( or trigger using over fieldbus the command HOME.MOVE ) the PL.CMD and  PL.FB are set to HOME.P value and the found and done bits are set.  This is a non-moving HOME.MODE routine.

Using the home routine 0-use current position differs from HOME.SET primarily in that the drive must be enabled in order to successfully execute the home routine.

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I always go to Workbench Help for support on functionality/behavior and descriptions of parameters, modes, routines, etc. For some reason HOME.P as a contributor to the HOME.SET was not documented and I will seek to have that remedied in the future.