306 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 11 Motion Control in PR Mode
Homing to Negative Limit
This homing method uses the negative limit (the limit is also called a travel or
overtravel), see Figure 112
through Figure 114 for examples. When the limit is
detected, you can choose to look for the marker pulse (Z) and set the Home
Position when the marker pulse is detected. If no marker pulse is used, the
Home Position is set when the limit is detected. Changing the starting position
does not change the homing operation.
Figure 112 - Homing to Negative Limit - Homing Method 3
Homing Method - IO Mode Homing Method - Description
3
Homing in reverse direction and regard NL as homing origin, Return to Z pulse.
Home Position is set at Green dot.
Homing Method: 3
Negative Limit (NL)
Positive Limit (PL)
Start Point 1
Start Point 2
Start Point
Negative Limit OFF to ON
Negative Limit ON to OFF
Z-Pulse ON
End Point
Home Position Set
Limit Signal
Z-Pulse
HS = High Speed (1st Speed)
LS = Low Speed (2nd Speed)
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