Rockwell Automation GMLC Reference Manual - Manual (Page 117)

Publication GMLC-5.2 - November 1999
80 Configuring Axis Use
Homing Speed
Type a default speed, in axis position units per second, at which the axis
will move toward a limit switch or encoder marker in an Active homing
procedure.
Return Speed
Type a default speed, in axis position units per second, at which the axis
will return from a limit switch or encoder marker in an Active homing
procedure.
Absolute Homing
If you are using an absolute feedback device (resolver, magnetorestrictive
transducer or absolute encoder) that is interfaced to the controller through
one of the available absolute transducer converters, select Absolute as the
homing Procedure. When you select Absolute, the current absolute
position of the feedback transducer is requested and used to initialize axis
position at power-up and during a homing procedure.
During a homing procedure, the Absolute selection:
1. disables feedback,
2. activates the absolute position strobe output to read the current
absolute position of the axis from the absolute transducer converter,
3. sets the actual position of the axis to the current absolute position of
the feedback device plus the home position, then
4. re-enables feedback.
Note: There is an approximately two-second delay with absolute
homing to allow the absolute position to be read from the
absolute transducer converter.
Note: With absolute homing, the home position parameter acts as an
offset to the absolute position read from the absolute transducer
converter.