312 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 11 Motion Control in PR Mode
Homing to Reverse ORG OFF to ON (Rising Edge condition)
Figure 118…Figure 120 show the different homing methods that use the ORG
signal with optional marker (Z) pulse. Notice that in some cases the low speed
(LS) moves the motor forward or backward. When the ORG signal is used
alone, a second transition of this signal must occur for the homing sequence to
complete (End).
Figure 118 - Homing to Reverse ORG OFF to ON (Rising Edge condition) - Homing Method 12 and 13
Homing Method - IO Mode Homing Method - Description
12
Homing in reverse direction, ORG: OFF to ON as homing origin, Return to Z pulse,
Shows error when encounter limit. Home Position is set at Green dot.
13
Homing in reverse direction, ORG: OFF to ON as homing origin, Return to Z pulse,
Reverse direction when encounter limit. Home Position is set at Green dot.
NL PL
ORG
HS
LS
HS
HS
LS
LS
Start Point
ORG (Home Input) OFF to ON
ORG (Home Input) ON to OFF
Z-Pulse ON
End Point
Home Position Set
Homing Method: 12 and 13
Negative Limit (NL)
Positive Limit (PL)
ORG
Start Point 1
Start Point 2
Start Point 3
ORG Signal
Z-Pulse
Limit Signal
ORG = Home Limit
HS = High Speed (1st Speed)
LS = Low Speed (2nd Speed)
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