Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 309
Chapter 11 Motion Control in PR Mode
Homing to Forward ORG OFF to ON (Rising Edge condition)
You can use the home sensor (ORG) to set the Home Position. You can use the
ORG with (or without) the marker (Z) pulse to set the Home Position.
See Figure 115
…Figure 117 for description.
Figure 115 - Homing to Forward ORG OFF to ON (Rising Edge condition) - Homing Method 6 and 7
Homing Method - IO Mode Homing Method - Description
6
Homing in forward direction, ORG: OFF to ON as homing origin, Return to Z pulse,
Shows error when encounter limit. Home Position is set at Green dot.
7
Homing in forward direction, ORG: OFF to ON as homing origin, Return to Z pulse,
Reverse direction when encounter limit. Home Position is set at Green dot.
Start Point
ORG OFF to ON
ORG ON to OFF
Z-Pulse ON
End Point
Home Position Set
ORG Signal
Z-Pulse
Homing Method: 6 and 7
Limit Signal
Start Point 3
Start Point 2
Start Point 1
Negative Limit (NL)
Positive Limit (PL)
ORG
ORG = Home Limit
HS = High Speed (1st Speed)
LS = Low Speed (2nd Speed)
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