Rockwell Automation Allen-Bradley Kinetix 5100 - Page 313

Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 313
Chapter 11 Motion Control in PR Mode
Figure 119 - Homing to Reverse ORG OFF to ON (Rising Edge condition)- Homing Method 14 and 15
Homing Method - IO Mode Homing Method - Description
14
Homing in reverse 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.
15
Homing in reverse 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
Homing Method: 14 and 15
Negative Limit (NL)
Positive Limit (PL)
Start Point 1
Start Point 2
Start Point 3
ORG Signal
Z-Pulse
Limit Signal
ORG
ORG = Home Limit
HS = High Speed (1st Speed)
LS = Low Speed (2nd Speed)