Setup and Reference Guide - Kollmorgen

HOMESTATE
Returns the status of the homing function. This variable can be polled during homing to track the homing
status. A homing process may not go through all of the steps listed below, which are a chronological listing of
the steps taken during a full homing procedure that begins when homing is initiated with a home switch that is
already pressed. When this process is complete, home or absolute machine zero is known and PFB=0. See MH,
HOMESPD, HOMETYPE, and IN1MODE-IN3MODE.
0 = no drive controlled homing has been initiated.
1 = homing started; moving away from pressed home switch.
2 = waiting for home switch to clear; drive will stop when it does.
3 = home switch has cleared; check if drive is stopped.
4 = home search; move towards home switch.
5 = waiting for home switch to be pressed; drive will stop.
6 = home switch detected; check if motor is stopped.
7 = after motion stops, motor will go home.
8 = check if motor is at home.
9 = motor is at home, waiting for in-position.
10 = homing is complete.
11 = homing process was interrupted during execution.
12 = homing was canceled, waiting for the motor to stop (SERCOS only).
Firmware Versions: 3.1.0 to 3.3.0, 3.4.2 and later.
For Firmware Versions 3.4.0 and 3.4.1 contact
Customer Support for a comprehensive definition of
HOMESTATE
Type: switch mode (R)
Range: 0 to 12
Default: N/A
Units: N/A
Drive Status: EN/DIS
EEPROM: N/A Opmodes: 8
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