Rockwell Automation Allen-Bradley Kinetix 5100 - Page 321

Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 321
Chapter 11 Motion Control in PR Mode
Figure 127 - Homing to Reverse ORG ON to OFF (Falling Edge condition) - Homing Method 32 and 33
Homing Method - IO Mode Homing Method - Description
32
Homing in reverse direction, ORG: ON to OFF as homing origin, Do not look for Z
pulse, Shows error when encounter limit. Home Position is set at Green dot.
33
Homing in reverse direction, ORG: ON to OFF as homing origin, Do not look for Z
pulse, Reverse direction when encounter limit. Home Position is set at Green dot.
HS
LS
HS
HS
LS
LS
NL PL
ORG
Homing Method: 32 and 33
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)