Rockwell Automation Allen-Bradley Kinetix 5100 - Homing PR Display

Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 349
Chapter 11 Motion Control in PR Mode
Homing PR Display
In the display of homing methods, PR#0 always signifies the homing
procedure, which is identified or indicated as ‘Homing’. See Figure 157
.
Figure 157 - Homing Methods Display
1. Command execution type: to execute homing when the drive is in Servo
On state, it displays (B); if homing is not required, then no information is
displayed.
2. Method selection: homing methods and Z pulse setting are shown in the
table below. Characters with red text (see Figure 157
) indicate which
'method' is used to set the Home Position. For example, if a Z pulse is
used, the Z is used to set the Home Position, so the Z is in red text. If
there is no marker pulse used and the ORG transition is used to set the
Home Position then ORG is in red text.
• F signifies running forward
• R signifies running in reverse
• ORG signifies using the Home Origin DI
• CUR signifies using the present position as home
• BUMP represents the collision point (Home to Torque)
3. Offset: origin offset, ID398 (P6.001)
4. Command: next PR command to be executed after homing
5. Homing at high speed: first homing speed, ID298 (P5.005)
HomingSpeed.
PR#0 (B)
Homing
0:PLZ
Offset=0
PR#1
Speed1=100
Speed2=20
1
2
3
4
5
6
Homing methods
Displayed text
(using a marker pulse, Z)
Displayed text, not using a
marker pulse (Z)
X = 0: homing in forward direction with PL as the homing origin 0: PLZ 0: PL
X = 1: homing in reverse direction with NL as the homing origin 1: NLZ 1: NL
X = 2: homing in forward direction with ORG (when it switches from off to on state) as the homing
origin
2: F_ORGZ 2: F_ORG
X = 3: homing in reverse direction with ORG (when it switches from off to on state) as the homing
origin
3: R_ORGZ 3: R_ORG
X = 4: look for the Z pulse in forward direction with it as the homing origin 4: F_Z
X = 5: look for the Z pulse in reverse direction with it as the homing origin 5: R_Z
X = 6: homing in forward direction with ORG (when it switches from on to off state) as the homing
origin
6: F_ORGZ 6: F_ORG
X = 7: homing in reverse direction with ORG (when it switches from on to off state) as the homing
origin
7: R_ORGZ 7: R_ORG
X = 8: use the current point as the origin 8: CUR
X = 9: look for collision point in forward direction and use it as the origin 9: F_BUMPZ 9: F_BUMP
X = A: look for collision point in reverse direction and use it as the origin A: R_BUMPZ A: R_BUMP