Rockwell Automation GMLC Reference Manual - Manual (Page 234)

Publication GMLC-5.2 - November 1999
Home Axis 197
The Homing_status variable is 1 (true) while the homing is in progress.
When the marker is detected, the motion controller assigns the home
position to the exact location of the marker, and Homing_status is 0
(false). See the System Variables chapter in this manual for more
information on the Homing_status variable. See the Setup section of the
Installation and Setup manual for your motion controller for more
information on the home position.
After initiating passive homing, the axis must be moved past the encoder
marker for the homing sequence to complete properly. For closed-loop
servo axes, this can be accomplished with a Move Axis or Jog Axis block.
For physical master only axes, motion cannot be commanded directly by
the motion controller, and must be accomplished via other means. For
virtual axes, the motion must be commanded from the associated physical
axis on the appropriate motion controller.
Wait for Completion
When you select Wait for Completion, the motion controller pauses the
program until the chosen homing sequence is completed. When the
homing sequence completes, the program continues with the next block.
If other tasks are executing (multitasking), the motion controller halts the
task that contains this block, but the other tasks continue to execute. In
this way, a Wait for Completion selection in one task does not halt
execution of any other tasks or hang the task dispatcher.
When Wait for Completion is not selected, the Home Axis block initiates
the specified homing sequence and the program continues with the next
block.
Synchronized Homing
When you select Synchronize with next Home Axis, the current Home
Axis block executes simultaneously with the following Home Axis block.
This allows homing multiple axes simultaneously, as shown below.