beautypg.com

Active homing, Active immediate home, Active bi-directional home with switch – Rockwell Automation 1784-PM16SE SoftLogix Motion Card Setup and Configuration Manual User Manual

Page 299

background image

Publication 1784-UM003A-EN-P – June 2003

Motion Object Attributes 291

Active Homing

Active homing sequences, with the exception of the “Immediate” home
sequence type, employ trapezoidal jog velocity profiles to move the axis while
waiting for a homing event to occur. When “Active” is the configured Home
Mode, the Home Sequence attribute is used to specify whether or not a home
limit switch and/or the feedback device marker is to be used for the homing
events. The Home Direction attribute determines the directional behavior of
jog profiles associated with the specified homing sequence. Uni-directional and
Bi-directional refer whether or not the jog is to reverse direction after
detecting the homing event. Forward and Reverse refer to the direction of the
initial jog during the homing process. The available active homing sequences
are described in detail below with the assumption that the Home Direction is
always forward

Active Immediate Home

This is the simplest active homing sequence type. When this sequence is
performed, the controller immediately enables the servo drive and assigns the
Home Position to the current axis actual position and command position. This
homing sequence produces no axis motion and the Home Offset attribute is
not applicable.

Active Bi-directional Home with Switch

This active homing sequence is useful when an encoder marker is not available.

This manual is related to the following products: