### HOMETYPE {draft}

defines the type of homing function performed. This variable takes on a different meaning depending on the type of positioning selected (using PCMDMODE):

In Serial Position Mode (PCMDMODE = 0, also see MH):
0 = homing with home switch and marker (PFB = 0).
1 = homing with home switch only (PFB = 0)
2 = homing with marker only (PFB = 0).
3 = present position is home on the rising edge of IN1, IN2, or IN3 with the corresponding INxMODE value set to 12 (PFB = 0).
4 = homing on marker with every drive enable, MH command, or on the rising edge of IN1-IN3 with the corresponding INxMODE set equal to 12 (PFB = 0).
5 = homing on marker with every MH command, or on the rising edge of IN1-IN3 with the corresponding INxMODE set equal to 12 (PFB = 0).

"Home switch" refers to a digital input (IN1-IN3) that has been configured as a home switch by setting INxMODE = 10. "Marker" refers to an encoder’s index pulse or a resolver zero point.

Note that for HOMETYPE 0-3, the initial homing will search for home, and successive homing commands will go back to home. For HOMETYPE 4-5, the drive will search for home on every home command, whether home has previously been detected or not.

In Analog Position Mode (PCMDMODE = 1)
0 = home position reference at the analog input is set to its current value on every transition of the Enable. For example, if there is 4v on the analog input and the drive is enabled, then the home input reference is 4v. (Current value of PFB becomes home position)
3 = home position reference at the analog input is set to 0v on the rising edge of IN1, IN2, or IN3 with the corresponding INxMODE value set to 12 (Current value of PFB becomes home position). *

* Caution! If there is a voltage on the analog input other than 0v and a rising edge transition occurs, the motor will see this as a "command to move" and move to the position.

Note that HOMETYPE = 1, 2, 4, 5 react in the same manner as 0 - not as defined in the Digital Position Mode.

6. HOMETYPE 6 and 7 were added.
- HOMETYPE 6 issues search homing on switch and marker every MH, and
INxMODE 12. It is like HOMETYPE 0, but successive MH or INxMODE 12 will
search for home instead of go to home.
- HOMETYPE 7 issues search homing on switch every MH, and INxMODE 12. It is
like HOMETYPE 1, but successive MH or INxMODE 12 will search for home
instead of go to home.
7. Analog position feature was improved.
All types of homing are available, but there are two modes to terminate
the homing sequence and to pass the control to the analog command.
For HOMETYPE 0 to 7:
Voltage is normalized. No jump occurs when homing terminates or upon
disable to enable transition.
For HOMETYPE 50 to 57:
Voltage is not normalized. Jump might occurs when homing terminates or
upon disable to enable transition. Before the first homing, the drive
is in hold position mode (flashing OPMODE), and the analog command has
no effect.
The actual HOMETYPE when HOMETYPE is 50 to 57 is HOMETYPE - 50.
8. Referring to items 6 and 7, the range of HOMETYPE is 0 to 7 and 50 to 57.

Firmware Versions: 3.1.0 and later
Type: switch mode (R/W) Range: 0 to 7 , 50 to 57
Units: n/a Default: 0
Opmodes: 8 Drive Status: en/dis EEPROM: yes