300 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 11 Motion Control in PR Mode
Homing Speed and Position
This section describes how the Homing Positon and Homing Speed are used in
the Kinetix 5100 drive.
Home Position
Parameter ID398 (P6.001) HomePosition defines the Origin Position
(sometimes called the Origin Definition). The range is
-2147483648…2147483647.
Home Speed
The homing sequence is shown in Figure 108. The homing procedure uses two
speeds, a high speed and a low speed. Homing starts with Acceleration to High
Speed Homing (1st speed). Once the ORG switch is detected, the motor is
decelerated (using the 1st Deceleration Time). It will use the Low Speed
Homing (2nd speed) to complete the homing sequence by moving to a marker
pulse. Then uses the second Deceleration time to stop the motor.
Figure 108 - Speed Settings for Homing
Operation of Homing Types
This section describes the homing methods supported by the drive. They can
be categorized into six types.
• Homing to Positive Limit (PL)
• Homing to Negative Limit (NL)
• Homing to Forward ORG OFF to ON (Rising Edge condition)
• Homing to Reverse ORG OFF to ON (Rising Edge condition)
• Homing to Forward ORG ON to OFF (Falling Edge condition)
• Homing to Reverse ORG ON to OFF (Falling Edge condition)
These Homing sequences are used in PR and IO modes, although the method
for executing the homing is different (KNX5100C software/Logix Designer
application), their behavior is the same. When the marker pulse is used, the
Home Position physical location is more accurate than using an input signal
only (Home Switch/ORG for example).
The homing method value is used when you want to change the homing type
with IO mode (Class 1 Ethernet/IP); the raC_xxx_K5100_MAH Add-On
Instruction uses these methods with Set_HomingMethod value.
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