Configuring rotary axis parameters

[CRM]

I'm struggling to get my Haas 5c indexer to operate correctly when interfaced to the DC1 add-on axis. I believe I have the physical wiring done correctly but the installation manual really only walks you thru configuring a linear axis, so I have a few questions I hope someone can help clarify:

1) Per the installation manual, encoders should count UP when the servo motor shaft turns counterclockwise when viewed from the shaft end. Mine is currently counting DOWN, but the servo does not "run away". Is this a problem? When everything else is finally working, I can simply switch "Dir Rev" in the motor parameter screen if handwheel jog direction doesn't match actual indexer rotation, correct?

2) My indexer has a worm ratio of 60:1 The encoder on the servo motor shaft is 8,000 counts/rev. The indexer utilizes a prox switch for home location of the indexer spindle. It is wired to INP7 of the ALLIN1 and "closes" (green dot) when in home position.

In the MOTOR PARAMETER screen (F1>F3>137>F2>F2) I currently have the following parameters:
Motor rev/in: 1.0 --> Only because I'm trying to understand why I'm getting 160,000 counts per "click" with handwheel set to x1 (see below)
Encoder counts/rev: 8,000
Limit - : 0
Limit + : 0
Home - : 30
Home + : 30
Dir Rev : N
Screw Comp: N

Regarding the column labeled "Motor rev/in". What does that mean when applied to a rotary axis? My assumption is Motor rev/degree of spindle rotation. If that is correct, would the answer be "6" if I have a worm reduction of 60:1? (360/60=6) OR...is it Motor rev/1 revolution of spindle (360 degrees)? Or is it something else? (Until I understand this, I have Motor Rev/in set to 1.000 in the MOTOR PARAMETER screen)

I have an 8,000 count encoder on the servo motor shaft. With 1.000 in the Motor rev/in column for the rotary axis, one click of the handwheel with the step resolution set to x1 yields 160,000 encoder counts. That certainly doesn't seem right. Shouldn't it be 8,000? I figure I need to get this right before I tackle the other problems.

3) The last problem is homing. Since this is a rotary axis, there are no limit switches per se, the indexer utilizes a prox switch to identify "home". It is my understanding I DO NOT wire the prox switch to the limit switch input of the drive axis. I need to wire it to an aux input of the ALLIN1DC. I have it wired to inp 7. Currently, the axis fails to home, it just rotates very slowly. I have verified the input is working by manually turning the worm shaft (I have disconnected the servo motor from the indexer worm shaft to verify this) while watching the I/O screen; INP7 is red until it turns green briefly at the same spindle position thru several full rotations of the indexer spindle. Because of that, I'm fairly confident the physical wiring of the indexer to the control is correct, and my problems are due to incorrect parameters.
I can no longer remember where I got the "30" parameters for the Home + & - columns (I did the physical wiring and installation almost 10 months ago and had to put the project on hold until now). I think it might have been from a forum response...but maybe from a TSB. Again, super frustrated there isn't better documentation specifically regarding adding a ROTARY axis via the DC1 add-on axis.
So I've been trying to find documentation again to tell me exactly what that parameter is doing.

[CRM]

UPDATE:
I have been stumbling around configuration parameters and have made some headway (I think).
On the MOTOR PARAMETERS page, I have:

Motor Rev/in: 0.166666667
Encoder counts/rev: 8,000
Limit - : 0
Limit + : 0
Home - : 30
Home + : 30
Dir Rev : Y
Screw Comp: N

That has the indexer spinning the correct direction (clockwise, facing indexer) when the handwheel is spun "+". The control "A" axis shows 360.000 degrees when I handwheel 1 full revolution of the indexer (close as I can tell from a reference mark on the spindle nose).

HOWEVER, I still can't get the indexer to home. The machine homes X, Y, & Z just fine, but the rotary axis just spins continuously (very slowly, like about 3 minutes per revolution) until I hit the E-stop. I'm at a loss as to what parameters I should be looking at to fix this. It acts like it's not seeing the signal at INP#7. Also, is there a parameter that controls how fast the indexer spins during homing? I'd like to think it could be faster than 3 minutes per revolution.
My home file looks like this:
M92/Z
M26/Z
M91/X
M26/X
M92/Y
M26/Y
M92/A
M26/A

Does it matter which way the indexer rotates to home? (M91 or M92) I tried a M91/A command in MDI and got the same result, indexer just spun right past the home position.

Help.

[cncsnw]

It is turning non-stop because it is looking for INP30 to change.

If your home switch is wired to INP7 (and you have confirmed that the dot for INP7 changes color when you trip the home switch), then you should enter "7", not "30" for the minus and/or plus home input numbers for the 4th axis. "30" would be correct only if you had it wired to INP30 (#14 on a PLCADD1616 board). INP30 was also the usual location when using a DC3IO unit, back in the CPU10/CNC10 days.

If you see INP7 is red through most of the rotation, and green only for a narrow range where the switch is tripped, then you should use Ctrl-Alt-i to invert INP7 in the software.

It does not make any difference whether you use M92 (home plus) or M91 (home minus). If the rotary table has a permanent scale of degrees and a pointer, you might find that one method ends up with the pointer closer to zero than the other. That is just cosmetics, though.

The jog speeds, homing speed, and rapid rate are all set on the Machine Configuration -> Jog Parameters table. They are in degrees/minute. As a rule they will be much larger numbers than your linear axis rates that are in inches/minute. Reasonable starting points, without knowing what RPM your servo motor is capable of, would be:
Slow Jog = 360 deg/min
Fast Jog = 3600 deg/min
Max Rate = 5400 deg/min
Home Jog = 720 deg/min

[CRM]

CNCSNW--
Many thanks for the help. I did indeed have to change from "30" to "7" (no idea how I came up with 30 in the first place, maybe it was something I saw in some old documentation, like you said) and I did need to invert the input. Homes perfectly now... EXCEPT it still homes excruciatingly slow. I don't see a "Home Jog" field in the Jog Parameters Table. Is that something that was added in a later version of CNC11 than I am running? Is there a different place that I can modify that parameter? I have attached a report I did just a few minutes ago.

report_1127191415_2025-01-14_13-01-49.zip

(4.45 MiB) Downloaded 5 times

[cncsnw]

"Home Jog" was added fairly recently (maybe CNC12 5.20?). All previous versions use the Slow Jog rate for homing.

If you always do a "Park" before powering off, then it should not take very long to find home, even at 360 deg/min.

If you want to speed up homing, even in the case where you start homing with it sitting just to the "wrong" side of home, then you can add a couple M105 and/or M106 lines to your homing macro.