Rockwell Automation 2097-Vxxx Kinetix 300 EtherNet/IP Indexing Servo Drive User Manual - Manual (Page 113)

Rockwell Automation Publication 2097-UM001D-EN-P - November 2012 113
MotionView Software Configuration Chapter 5
Homing Category The Kinetix 300 drives have a predefined (firmware based) homing functionality.
The supported homing methods include limit switches at the ends of travel, a
dedicated home switch, an index pulse or zero reference from the motor feedback
device, or a combination of the above.
The configuration for Homing requires setting the these parameters either over
EtherNet/IP Explicit Messaging or through the embedded software interface.
Table 58 - Homing Category
Homing Methods
To use homing methods involving Motor Index Pulse (zero pulse), the index
pulse of the motor must be connected to the drive input. When the drive has
been homed, it asserts the Homed bit in the EtherNet/IP Output Assembly.
ID Parameter Name Description Value/Notes
227 Home Accel/Decel Homing acceleration/deceleration rate Range 0…10,000,000 UU per second
2
.
228 Home Offset The new position of the motor after the homing sequence is
complete. All subsequent absolute moves are taken relative
to this new zero position. Range: -32767…+32767 user units.
230 Home Velocity Fast For homing methods that use one velocity setting, this tag is
used as the velocity. Range: -10,000…+10,000 UU/sec.
231 Home Velocity Slow For homing methods that use two velocity settings (fast and
slow), this tag is used as the slow velocity. Typically, this tag is
used to creep to a homing position.
232 Home Method Defines the type of homing to be performed. See Table 59 on
page 115 .
N/A
234 Home Switch The digital input that should be used as a home switch for
appropriate homing method. Do not assign to A1, A2, A3, or C3 as these inputs
have predefined functions.