Rockwell Automation Allen-Bradley Kinetix 5100 - Page 315

Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 315
Chapter 11 Motion Control in PR Mode
Referencing the Z Pulse
This homing method uses the motor marker pulse (Z) to set the
HomingPosition. The marker pulse is on the motor encoder and occurs once
per motor rotation.
Figure 121 - Z Pulse as Reference Point
Homing Method - IO Mode Homing Method - Description
18
Look for Z pulse in forward direction and regard it as homing origin, Shows error
when encounter limit.
19
Look for Z pulse in forward direction and regard it as homing origin, Reverse
direction when encounter limit.
20
Look for Z pulse in reverse direction and regard it as homing origin, Shows error
when encounter limit.
21
Look for Z pulse in reverse direction and regard it as homing origin, Reverse
direction when encounter limit.
V
t
V
t
HS = High Speed (1st Speed)
Homing Method: 18
and 19
Home Position Set
Homing Method: 20
and 21
Z pulse
Limit signal
Start point
End
Axis (Load)
Limit
Motor
V = Velocity
t = Time
End
HS
HS
Start point
Home Position Set