Rockwell Automation 1784-PM16SE SoftLogix Motion Card Setup and Configuration Manual - Manual (Page 306)

Publication 1784-UM003A-EN-P – June 2003
298 Motion Object Attributes
In most cases, Home Position is set to zero, although any value, within the
Maximum Positive and Negative Travel limits of the axis (if enabled), may also
be used. (A description of the Maximum Positive and Negative Travel
configuration attributes may be found in the Servo and Drive Axis Object
specifications). For a rotary axis, the Home Position is constrained to be a
positive number less than the Position Unwind value divided by the
Conversion Constant.
When configured for absolute Homing Mode, the Home Position value is
applied directly to the absolute feedback device to establish an absolute
position reference for the system.
Home Offset When applied to an active or passive Homing Mode, using a non-immediate
Home Sequence, the Home Offset is the desired position offset of the axis
Home Position from the position at which the home event occurred. The
Home Offset is applied at the end of the specified homing sequence before
the axis moves to the Home Position. In most cases, Home Offset is set to
zero. .
After an active bi-directional homing sequence has completed, the axis is left at
the specified Home Position. If the Home Offset is non-zero, the axis will
then be offset from the marker or home switch event point by the Home
Offset value. If the Home Offset is zero, the axis will sit right “on top of ” the
marker or home switch point.
Home Speed The Home Speed attribute controls the speed of the jog profile used in the
first leg of an active homing sequence as described in the above discussion of
the Home Sequence Type attribute.
Home Return Speed The Home Return Speed attribute controls the speed of the jog profile used
after the first leg of an active bi-directional homing sequence as described in
the above discussion of the Home Sequence Type attribute. .
GSV/SSV Access Attribute Name Data Type Values
SSV/GSV Home Offset REAL Position Units
GSV/SSV Access Attribute Name Data Type Values
SSV/GSV Home Speed REAL Position Units / Sec
GSV/SSV Access Attribute Name Data Type Values
SSV/GSV Home Return Speed REAL Position Units / Sec