Rockwell Automation Allen-Bradley Kinetix 5100 - Page 317

Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 317
Chapter 11 Motion Control in PR Mode
Figure 123 - Homing to Forward ORG ON to OFF (Falling Edge condition) - Homing Method 24 and 25
Homing Method - IO Mode Homing Method - Description
24
Homing in forward direction, ORG: ON to OFF as homing origin, Go forward to Z
pulse, Shows error when encounter limit. Home Position is set at Green dot.
25
Homing in forward direction, ORG: ON to OFF 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
Homing Method: 24 and 25
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)