### MH

Move Home: this command will cause the motor to move to the home position. HOMESPD controls the speed. HOMETYPE defines the type of homing sequence, while HOMESTATE gives the homing status and describes the homing process further.

After power up, or after a feedback loss fault, the first issue of this command causes a search for home. Further issues of this command will cause a move to home position (equivalent to MA 0 command). HOMESPD controls the speed and direction of the search. PFB is normalized to 0 after completion.

The optional flag [in pos ack] enables the operator to direct the drive to indicate when the commanded move is completed. When this flag is set to 1, the drive, upon completion of the commanded move, will output an exclamation point (!) over the serial port. The exclamation point is tied to the STOPPED flag and will be issued when STOPPED transitions from 0 to 1.

Homing Process Using MH command:
· issue MH command via serial port
· if home switch is already pressed (see IN1MODE = 10), the drive will move in the opposite homing direction, until home switch is released.
· if home switch is not already pressed, the drive will move in the homing direction, until home switch is pressed.
· drive will capture position of first index (or resolver 0) past switch.
· drive will decelerate to stop using DEC.
· drive will go back to home position using ACC, DEC, and HOMESPD. Drive will reset the absolute position (PFB) to 0.

Homing Process using digital I/O (see descriptions for INx and INxMODE 10 and 12):
When Home Input is activated for the first time after power-up:
· if home switch is already pressed (see INxMODE = 10), the drive will move in the opposite homing direction, until home switch is released.
· if home switch is not already pressed, drive will move in the homing direction, until home switch is pressed.
· drive will capture position of first index (or resolver 0) past switch.
· drive will decelerate at DEC to stop.
· drive will go back to home position using ACC, DEC, and HOMESPD.
· drive will reset the absolute position (PFB) to 0
Otherwise:
· drive will move to absolute 0 at HOMESPD.

Syntax/Range: MH [in pos ack]
[in pos ack] 0 or 1 (optional)
in pos ack = 0: do not indicate when move is complete
in pos ack = 1: indicate when move is complete

Firmware Versions: 3.1.0 and later
Command Syntax: see above
Opmodes: 8 Drive Status: en