User Manual
PoKeys user manual
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into the fields, confirm the value by pressing ‘Enter’ (‘Return’) key - the field will change
color from red to white.
9. Soft limits configuration: optionally, soft limits can be configured for each axis. When internal
motion controller detects the current position has gone out of these limits, the motion is
softly stopped and only motion in the out-of-limit direction is allowed.
10. Backlash compensation: PoKeys devices support backlash compensation feature. Enter the
size of the backlash (in pulses) and the maximum acceleration used for compensation.
Homing algorithm configuration
PoKeys devices support customization of the homing algorithm. The algorithm is based on executing
selected actions on different events:
- On Home event (home switch contact is detected) - this event happens when the machine
touches and activates the home switch (configured in the options above)
- Out Home event (home switch contact is released) - this event happens when the machine
backs off the switch or gets past the home switch.
On these two events, the combination of the following actions can be configured (selection boxes
from left to right):
- Stop and reset the position - this action marks last position as home position and commands
the motion to stop. It also finishes the homing procedure for the axis
- Arm the encoder index for stop - this action arms the encoder index input for the selected
axis. On the next encoder index signal, the position of the axis is marked as home, axis is
commanded to stop and the homing procedure for the axis is finished. Fast encoders index
inputs 1, 2, 3 (pins 9, 10 and 11 on PoKeys57CNC and 9, 11 and 27 for other PoKeys devices)
are used for axes 1, 2, 3, while ultra fast encoder index input is used for axis 4.
- Reverse direction - reverse the homing direction
- Slow down - slow down the homing speed to the reduced speed, as configured
Figure 7: Homing algorithm selection boxes - default configuration (reverse and reduce speed on home and stop on home
release)
Figure 8: Built-in help