Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 301
Chapter 11 Motion Control in PR Mode
Within the Homing section, we reference these acronyms:
• PL - Positive Limit
• NL - Negative Limit
• ORG - Home Switch
Table 112 - Homing Method Values - IO Mode
Value Description
0 Homing in forward direction and regard PL as homing origin. Return to Z pulse.
1 Homing in forward direction and regard PL as homing origin. Go forward to Z pulse.
2 Homing in forward direction and regard PL as homing origin. Do not look for Z pulse.
3 Homing in reverse direction and regard NL as homing origin. Return to Z pulse.
4 Homing in reverse direction and regard NL as homing origin. Go forward to Z pulse.
5 Homing in reverse direction and regard NL as homing origin. Do not look for Z pulse.
6
Homing in forward direction, ORG: OFF ON as homing origin. Return to Z pulse. Shows error when
encounter limit.
7
Homing in forward direction, ORG: OFF ON as homing origin. Return to Z pulse. Reverse direction when
encounter limit.
8
Homing in forward direction, ORG: OFF ON as homing origin. Go forward to Z pulse. Shows error when
encounter limit.
9
Homing in forward direction, ORG: OFF ON as homing origin. Go forward to Z pulse. Reverse direction
when encounter limit.
10
Homing in forward direction, ORG: OFF ON as homing origin. Do not look for Z pulse. Shows error when
encounter limit.
11
Homing in forward direction, ORG: OFF ON as homing origin. Do not look for Z pulse. Reverse direction
when encounter limit.
12
Homing in reverse direction, ORG: OFF ON as homing origin. Return to Z pulse. Shows error when
encounter limit.
13
Homing in reverse direction, ORG: OFF ON as homing origin. Return to Z pulse. Reverse direction when
encounter limit.
14
Homing in reverse direction, ORG: OFF ON as homing origin. Go forward to Z pulse. Shows error when
encounter limit.
15
Homing in reverse direction, ORG: OFF ON as homing origin. Go forward to Z pulse. Reverse direction
when encounter limit.
16
Homing in reverse direction, ORG: OFF ON as homing origin. Do not look for Z pulse. Shows error when
encounter limit.
17
Homing in reverse direction, ORG: OFF ON as homing origin. Do not look for Z pulse. Reverse direction
when encounter limit.
18 Look for Z pulse in forward direction and regard it as homing origin. Shows error when encounter limit.
19
Look for Z pulse in forward direction and regard it as homing origin. Reverse direction when encounter
limit.
20 Look for Z pulse in reverse direction and regard it as homing origin. Shows error when encounter limit.
21
Look for Z pulse in reverse direction and regard it as homing origin. Reverse direction when encounter
limit.
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