Allen-Bradley Kinetix 6500 User Manual

260 Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019
Chapter 12 Homing
Active home to marker in forward unidirectional This active homing sequence is useful for single-turn rotary and linear encoder applications when unidirectional motion is
required.
These steps occur during the sequence.
1. The axis moves in the Home Direction at the Home Speed to the marker.
2. If it’s in the same direction as the Home Direction, the axis moves to the Home Offset position.
Active home to switch and marker in forward
unidirectional
This active homing sequence is useful for multi-turn rotary applications when unidirectional motion is required.
These steps occur during the sequence.
1. The axis moves in the Home Direction at the Home Speed to the home limit switch.
2. The axis continues to move at the Home Speed until it gets to the marker.
3. If it’s in the same direction as the Home Direction, the axis moves to the Home Offset position.
Active Home to Torque The Home to Torque Level sequence is a type of homing used when a hard stop is going to be used as the home position, as
in a linear actuator.
Torque Level homing is similar to Home Switch homing, with the exception that the torque level is used instead of the home
switch input. This graphic depicts the Position/Velocity for Torque Level Homing.
Torque Level-Marker homing is similar to Home Switch-Marker homing, with the exception that the torque level is used
instead of the home switch input. This graphic depicts the Position/Velocity for Torque Level-Marker Homing.
Table 56 - Active Homing Examples (continued)
Sequence Description
Homing Vel
Return Vel
Axis Position
Axis Velocity
1
2
4
3
1: End of Travel / Hard Stop
2: Homing Torque Above Threshold = TRUE
3: Homing Torque Above Threshold = FALSE
4: Home Position
Torque Level Homing
Homing Vel
Return Vel
Axis Position
Axis Velocity
1
2
5
3
4
1: End of Travel / Hard Stop
2: Homing Torque Above Threshold = TRUE
3: Homing Torque Above Threshold = FALSE
and Arm Regestration for Encoder Marker
4: Encoder Marker Detected
5: Home Position
Torque Level - Marker Homing

Allen-Bradley Kinetix 6500 Specifications

General

Brand	Allen-Bradley
Model	Kinetix 6500
Category	Servo Drives
Language	English