316 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 11 Motion Control in PR Mode
Homing to Forward ORG ON to OFF (Falling Edge condition)
You can use the home sensor (ORG) to set the Home Position. You can use the
ORG with the marker (Z) pulse to set the Home Position.
See Figure 122
…Figure 124 for description.
Figure 122 - Homing to Forward ORG ON to OFF (Falling Edge condition) - Homing Method 22 and 23
Homing Method - IO Mode Homing Method - Description
22
Homing in forward direction, ORG: ON to OFF as homing origin, Return to Z pulse,
Shows error when encounter limit. Home Position is set at Green dot.
23
Homing in forward direction, ORG: ON to OFF as homing origin, Return to Z pulse,
Reverse direction when encounter limit. Home Position is set at Green dot.
NL PL
ORG
HS
LS
LS
HS
HS
LS
LS
LS
LS
Homing Method: 22 and 23
Negative Limit (NL)
Positive Limit (PL)
ORG
Start Point 1
Start Point 2
Start Point 3
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
Limit Signal
ORG = Home Limit
HS = High Speed (1st Speed)
LS = Low Speed (2nd Speed)
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