General description of a homing procedure

Figure A shows a schematic diagram of a homing procedure with individual velocity profile phases.

1. When the machine is switched on the axis is in a random position (1).
2. Homing is initiated, and the axis travels towards the reference cam.
3. Once the reference cam is detected, the axis stops and reverses.
4. The axis moves away from the reference cam and detects the falling edge of the reference cam signal.
5. The axis continues and searches for a sync pulse or another distinctive event, depending on the reference mode setting. This step may be omitted where appropriate.
6. The occasion is detected and the specified reference position is set.
7. The axis stops and thus stands slightly away from the reference position. The reference position was set a short while before with maximum accuracy.

Figures B and C show the position and velocity profile during homing.