310 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 11 Motion Control in PR Mode
Figure 116 - Homing to Forward ORG OFF to ON (Rising Edge condition) - Homing Method 8 and 9
Homing Method - IO Mode Homing Method - Description
8
Homing in forward direction, ORG: OFF to ON as homing origin, Go forward to Z
pulse, Shows error when encounter limit. Home Position is set at Green dot.
9
Homing in forward direction, ORG: OFF to ON as homing origin, Go forward to Z
pulse, Reverse direction when encounter limit. Home Position is set at Green dot.
NL PL
ORG
HS
LS
HS
HS
LS
LS
LS
Start Point
ORG (Home Input) OFF to ON
ORG (Home Input) ON to OFF
Z-Pulse ON
End Point
Home Position Set
ORG Signal
Z-Pulse
Homing Method: 8 and 9
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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