Rockwell Automation 2080-LC50 Micro830 and Micro850 Programmable Controllers User Manual - Manual (Page 118)

104 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Chapter 7 Motion Control with PTO and PWM
Scenario 1: Moving part at right (positive) side of home switch before
homing starts
The homing motion sequence for this scenario is as follows:
1. Moving part moves to the left side (negative direction);
2. When home switch is detected, the moving part decelerates to stop;
3. Moving part moves back (positive direction) in creep velocity to detect
home switch On
→ Off edge;
4. Once home switch On
→ Off is detected, record the position as
mechanical home position, and decelerate to stop;
5. Move to the configured home position. The mechanical home position
recorded during moving back sequence, plus the home offset configured
for the axis in the Connected Components Workbench software.
Scenario 2: Moving part is in between Lower Limit and Home switch before
homing starts
The homing motion sequence for this scenario is as follows:
1. Moving part moves to its left side (negative direction);
2. When lower limit switch is detected, the moving part decelerates to stop,
or stop immediately, according to limit switch hard stop configuration;
3. Moving part moves back (in positive direction) in creep velocity to detect
home switch On
→ Off edge;
4. Once home switch On → Off edge is detected, record the position as
mechanical home position, and decelerate to stop;
5. Move to the configured home position. The mechanical home position
recorded during moving back sequence, plus the home offset configured
for the axis in the Connected Components Workbench software.
Scenario 3: Moving part on Lower Limit or Home switch before homing starts
The homing motion sequence for this scenario is as follows:
1. Moving part moves to its right side(in positive direction) in creep velocity
to detect home switch On
→ Off edge;
2. Once home switch On
→ Off edge is detected, record the position as
mechanical home position, and decelerate to stop;
TIP If Lower Limit switch is not configured, or not wired, the homing motion
fails, and moves continuously to the left until the drive or moving part
fails to move.