366 Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
In most cases, Home Position is set to zero, although any value, within the
Maximum Positive and Negative Travel limits of the axis (if enabled), may also be
used. (A description of the Maximum Positive and Negative Travel configuration
attributes may be found in the Servo and Drive Axis Object specifications.) For a
cyclic axis, the Home Position is constrained to be a positive number less than the
Position Unwind value divided by the Conversion Constant.
Home Offset
Usage Access Data Type Default Min Max Semantics of Values
Required - E Set/SSV REAL 0 -maxpos maxpos Position Units
When applied to an active or passive Homing Mode, using a non-immediate
Home Sequence, the Home Offset is the desired position offset of the axis Home
Position from the position at which the home event occurred. The Home Offset is
applied at the end of the specified homing sequence before the axis moves to the
Home Position. In most cases, Home Offset is set to zero.
After an active bidirectional homing sequence has completed, the axis is left at the
specified Home Position. If the Home Offset is non-zero, the axis will then be
offset from the marker or home switch event point by the Home Offset value. If
the Home Offset is zero, the axis will sit right on top of the marker or home switch
point.
This is not valid for immediate Home Sequence.
Home Speed
Usage Access Data Type Default Min Max Semantics of Values
Required - E
PV Only
Set/SSV REAL 0 0 maxspd Position Units / Sec
The Home Speed attribute controls the speed of the jog profile used in the first leg
of an active homing sequence as described in the above discussion of the Home
Sequence Type attribute.
This is valid for non-immediate cases of active Home Mode. Only valid for
position and velocity control.
Home Return Speed
Usage Access Data
Type
Default Min Max Semantics of Values
Required - E
PV Only
Set/SSV REAL 0 0 maxspd Position Units / Sec