Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 146)

Publication 1746-6.1.2 - July 2000
Programming System Variables 9-3
A home axis move is initiated if the float data table is:
And the integer data table is:
Using the Set Home Command
The Set Home command sets the current commanded position equal
to the specified set home position and tells the system that the axis is
homed. Set Home parameters for word 5, bit 1 appear in the table
below.
1 s = Slot number for the SLC Servo Module.
The absolute position for the axis is set equal to the set home position
plus the signed following error.
The Set Home operation also causes the offset for the position to be
set to zero. This operation can only be performed when the SLC Servo
Module is out of Estop and there is no motion in progress. This
function is used when the configured home type is set to Homing
Without a Limit Switch or Marker.
After the Set Home is executed, the position is valid for performing an
absolute move. If the Set Home command fails, the SLC processor is
notified with an appropriate error message.
Word 0 (Accel/Decel) 1 (Velocity) 2 3 4 5
F27:0 1.0 20.0
Word 0 1 2 3 4 5
N32:0 0 0 0 0 0 1
Block Command Parameters
Location
1 Format Possible Values Default
Bit Specifications O:s.4 Bits 0000 0000 0000 0000 0
Set Home O:s.5 Bits 0000 0000 0000 0010 0
Position O:s.6-O:s.7 Float –axis travel limit to
+axis travel limit 0.0