Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 116)

Publication 1746-6.1.2 - July 2000
Setting Up Your SLC Servo Module 7-37
If the current axis position is x, the following occurs:
•
The axis moves one revolution of the feedback device in the
direction and at the speed specified by the Home Axis command (i.e.,
toward Marker #2 for this example) and stops.
•
Marker #2 is found during the move, and because Final Move to
Marker? is set to Yes (1), the axis moves at the absolute value of
the speed specified by the configured Speed/Direction of Move to
the Marker to the nearest marker (i.e., Marker #2 for this
example).
•
The current position of the axis is set to the configured Home
Position + Home Calibration.
Homing to a Limit Switch
The axis moves in the direction and at the speed specified by the
Home Axis command to find the home limit switch first. When the
limit switch is found, the axis moves in the direction and at the speed
specified by the configured Speed/Direction of Move Off the Limit Switch.
The axis position is recorded the moment the axis clears the limit
switch. Subsequently, the axis decelerates and stops.
Other configuration parameters are borrowed for unidirectional
homing.
EXAMPLE
Marker #1 Current PositionMarker #2
– . . . . | . . . . . . . . . . . . . .X . . . .. . . . . . . . . . . . . . . . . . . | . . . . +
If Move to Marker is set
to:
Then:
No (0) No further axis motion takes place. Instead, the
current position of the axis is set to the configured
Home Position ± the distance from the limit switch using
the position of the axis recorded earlier +
Home
Calibration.
Yes (1) The axis moves back to the position of the axis
recorded earlier at the absolute value of the speed
specified by the configured
Speed/Direction of Move
to the Marker.