Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 257
Motion Control in PR Mode Chapter 11
Definition of each setting value:
Configuring Homing Setting ID397 (P6.000)
Settings:
ZY X
Limit setting Z pulse setting Homing method
-
Y = 0: return to Z pulse
Y = 1: go forward to Z pulse
Y = 2: do not look for Z pulse
X = 0: homing in forward direction and define PL as
homing origin
X = 1: homing in reverse direction and define NL as
homing origin
When encounter limit:
Z = 0: show error
Z = 1: reverse direction
X = 2: homing in forward direction, ORG: OFF→ON as
homing origin
X = 3: homing in reverse direction, ORG: OFF→ON as
homing origin
-
X = 4: look for Z pulse in forward direction and define it as
homing origin
X = 5: look for Z pulse in reverse direction and define it as
homing origin
Y = 0: return to Z pulse
Y = 1: go forward to Z pulse
Y = 2: do not look for Z pulse
X = 6: homing in forward direction, ORG: ON→OFF as
homing origin
X = 7: homing in reverse direction, ORG: ON→OFF as
homing origin
-
-
X = 8: define current position as the origin
Y = 0: return to Z pulse
Y = 2: do not look for Z pulse
X = 9: look for the collision point in forward direction and
define it as the origin
X = A: look for the collision point in reverse direction and
define it as the origin
A DEC2: deceleration time selection of second homing YX CMD: command type
B DLY: select 0…F for delay time Z ACC: select 0…F for acceleration time
C N/A U DEC1: deceleration time selection of first homing
D BOOT - -
BCD
A
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