258 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 11 Motion Control in PR Mode
YX: CMD: command type
0x0: Stop: homing complete and stop.
0x1…0x63: Auto: homing complete and execute the specified PR command
(PR#01…PR#99).
Z: ACC: select 0…F for acceleration time
0…F: corresponds to ID312 (P5.020)…ID327 (P5.035)
U: DEC1: deceleration time selection of first homing
0…F: corresponds to ID312 (P5.020)…ID327 (P5.035)
A: DEC2: deceleration time selection of second homing
0…F: corresponds to ID312 (P5.020)…ID327 (P5.035)
B: DLY: select 0…F for delay time
0…F: corresponds to ID332 (P5.040)…ID347 (P5.055)
D: BOOT: when the drive is powered on, whether to search for the origin.
0: do not execute homing
1: execute homing automatically (servo switches to Servo On status for the first
time after applying power)
Note:
1. After the origin is found (sensor or Z), it has to decelerate to a stop. The
stop position exceeds the origin by a short distance:
If returning to the origin is not needed, set CMD to 0;
If returning to the origin is needed, set CMD to a non-zero value and set
PABS = ORG_DEF.
Example:
0x0001 to execute PR#01 automatically upon the completion of homing.
Set PR#01 to run absolute position to 0 (ID399(P6.002)=0x0002,
ID400(P6.003)=0x0000).
2. If the origin is found (sensor or Z), and you want it to move an offset S and
define the coordinate as P after moving, then CMD = non-zero and set
ORG_DEF = P - S, and this absolute Position command = P.
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