358 Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
Homing Mode Description
Passive
Passive homing redefines the current absolute position of the axis on the occurrence of a home
switch, encoder marker, or home to torque event. Passive homing is most commonly used to
calibrate uncontrolled axes, although it can also be used with controlled axes to create a custom
homing sequence.
Passive homing, for a given home sequence, works similar to the corresponding active homing
sequence, as described above, except that no motion is commanded-the controller just waits for
the switch, marker, or torque events to occur. If the configured feedback type does not support a
marker signal, the marker and switch then marker, and home to torque then marker homing
sequences are not applicable.
Home Direction
Usage Access Data
Type
Default Min Max Semantics of Values
Required - E
PV Only
Set/SSV USINT 1 - - Enumeration
0 = Unidirectional forward
1 = Bidirectional forward
2 = Unidirectional reverse
3 = Bidirectional reverse
4...255 = Reserved
The Home Direction attribute is the starting direction of a Homing Sequence
when configured for active Home Mode.
This attribute is only valid for position and velocity control.
Home Sequence
Usage Access Data Type Default Min Max Semantics of Values
Required - E Set/SSV USINT 0 - - Enumeration
0 = Immediate (default)
1 = Home to switch (O)
2 = Home to marker (O)
3 = Home to switch then marker
(O)
4 = Home to torque (O)
5 = Home to torque then marker
(O)
6...255 = Reserved
Determines the motion sequencing used to trigger the desired homing events.
Filtering of optional enumerations based on available hardware support and
feedback interface hardware.
Home Sequence Descriptions
Homing Sequence Types Description
Active Immediate Home
This is the simplest active homing sequence type. The axis actual position and
command positions are updated based on the configured Home Position.
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