Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018 365
Homing Sequence Types Description
Passive Home with Switch then
Marker
This passive homing sequence is useful for multi-turn rotary applications.
When this sequence is performed in the Passive Homing Mode, an external agent
moves the axis until the home switch and then the first encoder marker is detected. The
home position is assigned to the axis position at the precise position where the marker
was detected. If Home Offset is non-zero, then the Home Position will be offset from
the point where the switch is detected by this value.
Home Configuration Bits
Usage Access Data Type Default Min Max Semantics of Values
Required - E Set/SSV DWORD 0x00 - - Bitmap
0 = Reserved
1 = Home Switch Normally Closed
2...31 = Reserved
The Home Configuration Bits attribute determines homing related behavior such
as the sense of the home switch contacts.
The Home Switch Normally Closed bit attribute determines the normal state of
the home limit switch used by the homing sequence. The normal state of the
switch is its state prior to being engaged by the axis during the homing sequence.
For example, if the Home Switch Normally Closed bit is set (true) then the
condition of the switch prior to homing is closed. When the switch is engaged by
the axis during the homing sequence, the switch is opened, which constitutes a
homing event.
Home Position
Usage Access Data Type Default Min Max Semantics of Values
Required - E Set/SSV REAL 0
-maxp
os
maxpos Position Units
If Travel Mode is Cyclic: 0 <= home pos < unwind
The Home Position is the desired absolute position for the axis after the specified
homing sequence has been completed. After an active homing sequence has
completed, the axis is left at the specified Home Position.
• If bidirectional homing, then the axis is left at the Home Position.
• If unidirectional homing and TravelMode=Cyclic, then the axis is left at the
Home Position
Otherwise, the axis is not at the home position and the axis position is based on
the Home Position.
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