Rockwell Automation Publication 2097-UM001D-EN-P - November 2012 115
MotionView Software Configuration Chapter 5
Table 59 - Homing Methods Summary
Immediate Homing
The immediate home operation on the drive defines the current position of the
motor to be the home and the position set to the [HomeOffset] parameter. The
drive must be in Indexing mode or EtherNet/IP Positioning mode and the drive
must be enabled.
Absolute Homing
The absolute homing on the drive behaves similarly to the Immediate Homing
operation. The homing does not induce shaft motion on the motor. The current
position of the motor is the home position and the position is set to the
[HomeOffset] parameter.
The difference between the absolute position in the encoder and the
[HomeOffset] parameter is stored in nonvolatile memory so that all absolute
motion is relative to the current position. After a power cycle the drive continues
to operate as though it was homed.
For absolute homing on motors with absolute encoders, execute an Immediate
Home.
Home Method
(1)
(2)
(1) All other values of [HomeMethod] are not used for the Kinetix 300 drive and attempts to use those values will result in a drive fault.
(2) Home-to-torque is not available.
Direction Homing Type Home Sensor Polarity
7 Switch-Marker Forward Bi-directional Active/Rising
8 Switch-Marker Forward Uni-directional Active/Rising
9 Switch-Marker Forward Bi-directional Active/Falling
10 Switch-Marker Forward Uni-directional Active/Falling
11 Switch-Marker Reverse Bi-directional Active/Rising
12 Switch-Marker Reverse Uni-directional Active/Rising
13 Switch-Marker Reverse Bi-directional Active/Falling
14 Switch-Marker Reverse Uni-directional Active/Falling
23 Switch-Fast Forward Home to sensor Active/Rising
25 Switch-Slow Forward Home to sensor Active/Falling
27 Switch-Slow Reverse Home to sensor Active/Falling
29 Switch-Fast Reverse Home to sensor Active/Rising
33 Marker Reverse Home to marker N/A
34 Marker Forward Home to marker N/A
35 Immediate N/A N/A N/A
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