256 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 11 Motion Control in PR Mode
Figure 86 - Operation of DI and DO Signals in PR Mode(including delay time)
See Description of System Variable Monitoring on page 417 for more
information.
Homing
The drive provides 11 homing methods in PR mode. They include home sensor,
limit, or collision point and come with sub-selections such as whether to refer to
Z pulse and limit signal as the trigger. Homing method is specified by ID297
(P5.004) HomingMode and the homing definition is determined by ID397
(P6.000) HomingSetting.
Setting Homing Mode ID297 (P5.004)
Settings:
X Homing method Z Limit setting
Y Z pulse setting U Reserved
YZU
X
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