Rockwell Automation Publication 2080-UM002M-EN-E - April 2022 179
Chapter 8 Motion Control
2. Once Lower Limit switch On→Off edge is detected, start to detect first
Ref Pulse signal;
3. Once the first Ref Pulse signal comes, record the position as the
mechanical home position, and decelerate to stop;
4. Move to the configured home position. The mechanical home position
recorded during moving back sequence, plus the home offset configured
for the axis through the Connected Components Workbench software.
Scenario 3: Moving part at left (negative) side of Lower Limit switch before homing starts
In this case, the homing motion fails and moves continuously to the left until
drive or moving part fails to move. User needs to make sure the moving part at
the proper location before homing starts.
MC_HOME_DIRECT
MC_HOME_DIRECT (4) homing procedure performs a static homing by
directly forcing an actual position. No physical motion is performed in this
mode. This is equivalent to a MC_SetPosition action, except that Axis Homed
status will be on once MC_Home (mode = 4) is performed successfully.
Use PTO for PWM Control The example shows in you how to use a PTO axis as a PWM.
Launch Connected Components Workbench and create the following
ladder program.
Figure 12 - Example 1: PTO Axis as a PWM
MC_Power_1
MC_Power
EN
Axis
Enable_Positive
Enable
Enable_Negative
PWM0
TRUE
TRUE
TRUE
Axis
ENO
Status
Busy
Active
Error
ErrorID
1
Enable/power up the PWM axis immediately after going to RUN mode. PWM axis will remain powered ON (until Program mode, and so on).
__SYSVA_FIRST_SCAN
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