320 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 11 Motion Control in PR Mode
Figure 126 - Homing to Reverse ORG ON to OFF (Falling Edge condition) - Homing Method 30 and 31
Homing Method - IO Mode Homing Method - Description
30
Homing in reverse 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.
31
Homing in reverse 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.
LS
HS
HS
HS
LS
LS
NL PL
ORG
Homing Method: 30 and 31
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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