298 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 11 Motion Control in PR Mode
Homing The Kinetix 5100 drive provides flexible homing sequences. The drive provides
11 homing methods in PR Mode. These methods include the use of a home
sensor, travel limit switch, motor marker pulse, or collision point (torque limit)
and come with sub-selections such as whether to refer to marker pulse and
travel limit signal as the trigger. Homing method is specified by HomingMode
ID297 (P5.004) and the homing definition is determined by HomingSetting
ID397 (P6.000). Simple homing configuration is done by using KNX5100C
software. The Homing Settings are accessed using the PR Mode Editor.
In addition to the physical items used with a homing method, an assigned
Digital Input (DI.Enable Homing) is used to perform homing. An alternative
to assigning this Digital input is to execute PR00. This PR is dedicated to
performing the homing operation.
Setting Homing Mode ID297 (P5.004) - PR Mode
This setting is used with PR mode or by monitoring the Parameter Editor.
Settings:
Definition of each setting value:
X: Homing Method Y: Z Pulse Setting Z: Limit setting U: Reserved
0: homing in forward direction and define PL as
homing origin
0: return to Z pulse
1: go forward to Z
pulse
2: do not look for Z
pulse
—
—
1: homing in reverse direction and define NL as
homing origin
2: homing in forward direction, ORG: OFFï‚®ON as
homing origin
When encounter
limit:
0: show error
1: reverse direction
3: homing in reverse direction, ORG: OFFï‚®ON as
homing origin
4: look for Z pulse in forward direction and define it as
homing origin
—
5: look for Z pulse in reverse direction and define it as
homing origin
6: homing in forward direction, ORG: ONï‚®OFF as
homing origin
0: return to Z pulse
1: go forward to Z
pulse
2: do not look for Z
pulse
7: homing in reverse direction, ORG: ONï‚®OFF as
homing origin
8: define current position as the origin —
—
9: look for the collision point in forward direction and
define it as the origin
0: return to Z pulse
2: do not look for Z
pulse
A: look for the collision point in reverse direction and
define it as the origin
IMPORTANT
The Homing Method values shown are for the PR Operation mode. The
homing operations are the same as in IO Mode, however, the Homing
Method values are different. See raC_xxx_K5100_MAH on page 520.
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