264 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 11 Motion Control in PR Mode
Referencing the Current Position as the Origin
This method uses the motor's current position as the reference origin. As long as
the homing procedure is triggered and the motor remains still, then coordinate
positioning is completed.
Figure 93 - Referencing Current Position as the Origin
See Description of Digital Input Functions in Chapter 15 for details about the
DI:SHOM signal.
Referencing the Torque Limit
This method uses the motor's stop position as the origin by referring to: the limit
on the mechanism, ID177 (P1.087)HomingCollisionTorqueLimit and ID178
(P1.088) HomingCollisionTorqueLimitTime. You can also choose whether to
use the Z pulse as the origin.
Motor
End
DI.SHOM [0x27] Return to Homing Origin
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