Technology instructions
9.3 Motion control
S7-1200 Programmable controller
490 System Manual, 03/2014, A5E02486680-AG
Sequence for active homing
You start active homing with motion control instruction "MC_Home" (input parameter
Mode = 3). Input parameter "Position" specifies the absolute reference point coordinates in
this case. Alternatively, you can start active homing on the control panel for test purposes.
The following diagram shows an example of a characteristic curve for an active reference
point approach with the following configuration parameters:
● "Approach direction" = "Positive approach direction"
● "Reference point switch" = "Right (positive) side"
● Value of "home position offset" > 0
Table 9- 60 Velocity characteristics of MC homing
D Home position offset
Search phase (blue curve segment): When active homing starts, the axis accelerates to the configured "approach
velocity" and searches at this velocity for the reference point switch.
②
Reference point approach (red curve section): When the reference point switch is detected, the axis in this example
brakes and reverses, to be homed on the configured side of the reference point switch at the configured "reduced
③
Travel to reference point position (green curve segment): After homing at the reference point switch, the axis travels
to the "Reference point coordinates" at the "reduced velocity". On reaching the "Reference point coordinates", the
axis is stopped at the position value that was specified in the Position input parameter of the MC_Home instruction".
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