Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 115)

Publication 1746-6.1.2 - July 2000
7-36 Setting Up Your SLC Servo Module
If the current axis position is x, the following occurs:
•
The axis moves one revolution of the feedback device in the
direction and at the speed specified by the Home Axis command
(i.e., toward Marker #2 for this example) and stops.
•
Marker #2 is found during the move, but because Final Move to
Marker? is set to No (0), the final axis move does not take place.
•
The current position of the axis is set to the configured Home
Position + the distance to nearest marker (i.e., Marker #2 for this
example) + Home Calibration.
Option 4 Example
When the parameters are set, the axis moves one revolution of the
feedback device in the direction and at the speed that the Home Axis
command specifies when looking for the marker, and then it stops.
The current position of the axis is set to the configured Home Position
+ Home Calibration.
EXAMPLE
Marker #1 Current PositionMarker #2
– . . . . | . . . . . . . . . . . . . . . . . . . x . . . . . . . .. . . . . . . . . | . . . . +
Parameters: Equals:
Final Move to Which Marker? 1
Final Move to Marker? Yes (1)
If the marker is: Then:
Found during that one
revolution move The axis moves at the absolute value of the
speed the configured
Speed/Direction of Move to
the Marker specifies to the nearest marker.
Not found during that one
revolution move The problem is reported to the SLC processor.
IMPORTANT
To configure and program for a unidirectional axis,
the sign of the speed specified in the Home Axis
command and the direction of the move specified by
the configured Final Move to Marker? must result in
unidirectional axis motion.