Rockwell Automation GMLC Reference Manual - Manual (Page 726)

Publication GMLC-5.2 - November 1999
Using the Dedicated Discrete Inputs 689
The recommended ladder logic for homing axes is shown below. Only
axes 0 and 1 are shown, but axes 2 and 3 are handled in the same manner.
The Rack Address in the motion controller is set to 5 and the Starting
Group parameter to 0. Thus the dedicated discrete RIO bits appear in I/O
group 1 of rack 5 (I/O:051).
Program Listing Report PLC-5/30
Rung 2:1
| Home
Axis 0 |
| Axis 0 Selected |
| I:002 O:051 |
+----] [-----------------------------------------------------( )-----+
|
01 00 |
Rung 2:2
| Home
Axis 1 |
| Axis 1 Selected |
| I:002 O:051 |
+----] [-----------------------------------------------------( )-----+
|
02 01 |
Rung 2:3
|
Home |
| Axis 0 Selected |
| Selected Axes |
| O:051 O:051 |
+-+---] [----+-----------------------------------------------( )-----+
| |
00 | 10 |
| |Axis 1 | |
| |Selected | |
| | O:051 | |
| +---] [----+ |
| 01 |
!
ATTENTION: Do not use the PLC ladder logic shown here
for homing axes in the same PLC program with the ladder
logic shown later for jogging axes or improper operation can
result.