238 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 10 Modes of Operation
The control structure of home mode is as follows.
The I/O assembly data for the home mode is as follows.
Graphic to be recreated in
Adobe Illustrator and to
include ID #s.
GNUM0, GNUM1
GearRatioFollowerCounts N1 - ID151 (P1.044)
GearRatioFollowerCounts N2 - ID236 (P2.060)
GearRatioFollowerCounts N3 - ID237 (P2.061)
GearRatioFollowerCounts N4 - ID238 (P2.062)
GearRatioMasterCounts - ID152 (P1.045)
O.HomingMethod
Position
Command
Generator
1. ID117 (P1.001)
2. O. Operation
Mode Setting
Other
Position
Commands
Numerators
Denominator
Filters
ID124 (P1.008)
ID134…ID138 (P1.024…P1.028)
ID143 (P1.036)
ID170 (P1.068)
O.PositionReference
O.SpeedReference
O.HomeReturnSpeed
O.Acceleration
O.Deceleration
NOTE: ‘O.xxx’ are the output parameters of the I/O assembly.
Name Data Type Description Semantics of Values
Operation mode
setting
SINT Indicates what output assembly parameters have
effect when ‘Start Motion’ has a 0-to-1 transition.
Must be 3 - home mode
Homing method Homing method. See Tab le 92
.
Speed reference DINT For a rotary motor, the speed reference is 0.1 rpm/
sec.
—
Acceleration
reference
For a rotary motor, the acceleration reference is 0.1
rpm/sec.
—
Deceleration
reference
For a rotary motor, the deceleration reference is 0.1
rpm/sec.
—
Position
reference
The relationship between user unit and motor
encoder counts is defined by position factor
numerator/denominator.
—
Home return
speed
When operation mode is the home mode, then the
creep speed for the rotary motor is 0.1 rpm/sec.
—
Table 92 - Homing Method Values
Value Description
0 Homing in forward direction and regard PL as homing origin. Return to Z pulse.
1 Homing in forward direction and regard PL as homing origin. Go forward to Z pulse.
2 Homing in forward direction and regard PL as homing origin. Do not look for Z pulse.
3 Homing in reverse direction and regard NL as homing origin. Return to Z pulse.
4 Homing in reverse direction and regard NL as homing origin. Go forward to Z pulse.
5 Homing in reverse direction and regard NL as homing origin. Do not look for Z pulse.
6
Homing in forward direction, ORG: OFF ON as homing origin. Return to Z pulse. Shows error when
encounter limit.
7
Homing in forward direction, ORG: OFF ON as homing origin. Return to Z pulse. Reverse direction when
encounter limit.
8
Homing in forward direction, ORG: OFF ON as homing origin. Go forward to Z pulse. Shows error when
encounter limit.
9
Homing in forward direction, ORG: OFF ON as homing origin. Go forward to Z pulse. Reverse direction
when encounter limit.
10
Homing in forward direction, ORG: OFF ON as homing origin. Do not look for Z pulse. Shows error when
encounter limit.
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