Rockwell Automation Allen-Bradley Kinetix 5100 - Page 311

Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 311
Chapter 11 Motion Control in PR Mode
Figure 117 - Homing to Forward ORG OFF to ON (Rising Edge condition) - Homing Method 10 and 11
Homing Method - IO Mode Homing Method - Description
10
Homing in forward direction, ORG: OFF to ON as homing origin, Do not look for Z
pulse, Shows error when encounter limit. Home Position is set at Green dot.
11
Homing in forward direction, ORG: OFF to ON as homing origin, Do not look for Z
pulse, Reverse direction when encounter limit. Home Position is set at Green dot.
NL PL
ORG
HS
LS
HS
HS
LS
LS
ORG Signal
Z-Pulse
Homing Method: 10 and 11
Limit Signal
Start Point 3
Start Point 2
Start Point 1
Start Point
ORG (Home Input) OFF to ON
ORG (Home Input) ON to OFF
Z-Pulse ON
End Point
Home Position Set
Negative Limit (NL)
Positive Limit (PL)
ORG
ORG = Home Limit
HS = High Speed (1st Speed)
LS = Low Speed (2nd Speed)