Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 319
Chapter 11 Motion Control in PR Mode
Homing to Reverse ORG ON to OFF (Falling Edge condition)
Figure 125…Figure 127 shows the different homing methods that use the ORG
signal (using the falling edge, or ON->OFF transition) 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 125 - Homing to Reverse ORG ON to OFF (Falling Edge condition) - Homing Method 28 and 29
Homing Method - IO Mode Homing Method - Description
28
Homing in reverse direction, ORG: ON to OFF as homing origin, Return to Z pulse,
Shows error when encounter limit. Home Position is set at Green dot.
29
Homing in reverse direction, ORG: ON to OFF as homing origin, Return to Z pulse,
Reverse direction when encounter limit. Home Position is set at Green dot.
Homing Method: 28 and 29
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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