Allen-Bradley Kinetix 5100 2198-E1004-ERS - Homing PR Display

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 289
Motion Control in PR Mode Chapter 11
4. Next PR command: if followed by a PR command, the arrow points to the
specified PR command.
5. Command information: displays the details of this PR command. The
color depends on the information types.
The following sections describe the display.
Homing PR Display
In the display of homing methods, PR#0 always signifies the homing procedure,
which is identified or indicated as "Homing". See Figure 119
below.
Figure 119 - Homing Methods Display
1. Command execution type: to execute homing when the drive is in Servo
On state, it displays (B); if homing is not required, then no information is
displayed.
2. Method selection: homing methods and Z pulse setting are shown in the
table below. Characters in red (see Figure 119
) indicate the motor's
position after homing; F signifies running forward; R signifies running in
reverse; ORG signifies origin; CUR signifies current position; BUMP
represents the collision point.
PR#0 (B)
Homing
0:PLZ
Offset=0
PR#1
Speed1=100
Speed2=20
1
2
3
4
5
6
Homing methods Y = 0: reverse to look for Z pulse
Y = 1: go forward to look for Z pulse
Y = 2: do not look for Z pulse
X = 0: homing in forward direction with PL as the homing origin 0: PLZ 0: PL
X = 1: homing in reverse direction with NL as the homing origin 1: NLZ 1: NL
X = 2: homing in forward direction with ORG (when it switches from off to on state) as the
homing origin
2: F_ORGZ 2: F_ORG
X = 3: homing in reverse direction with ORG (when it switches from off to on state) as the
homing origin
3: R_ORGZ 3: R_ORG
X = 4: look for the Z pulse in forward direction with it as the homing origin 4: F_Z
X = 5: look for the Z pulse in reverse direction with it as the homing origin 5: R_Z
X = 6: homing in forward direction with ORG (when it switches from on to off state) as the
homing origin
6: F_ORGZ 6: F_ORG
X = 7: homing in reverse direction with ORG (when it switches from on to off state) as the
homing origin
7: R_ORGZ 7: R_ORG