Rockwell Automation 2097-Vxxx Kinetix 300 EtherNet/IP Indexing Servo Drive User Manual - Manual (Page 119)

Rockwell Automation Publication 2097-UM001D-EN-P - November 2012 119
MotionView Software Configuration Chapter 5
Homing Method 23
Using this method, the initial direction of movement is forward (if the homing
switch is inactive). The home position is the leading edge of the homing switch.
The axis accelerates to fast-homing velocity in the forward direction and motion
continues until the homing switch is activated (rising edge) shown at position A.
The axis decelerates to zero velocity.
If the homing switch is already active when the homing routine commences, then
this initial move is not executed.
The axis accelerates to fast-homing velocity in the reverse direction and motion
continues until the falling-edge of the homing switch is detected, (position B),
where the axis decelerates to 0 velocity. The axis accelerates to slow
-homing
velocity in the forward direction and motion continues until the rising-edge of
the homing switch is detected (position C), where the axis decelerates to 0
velocity. The axis accelerates to slow
-homing velocity in the reverse direction and
motion continues until the falling-edge of the homing switch is detected
(position 23). This is the home position (excluding offset).
Figure 68 - Homing Method 23
TIP If the axis is on the wrong side of the homing switch when homing is started,
the axis moves forward until it contacts the positive limit switch. Upon
activating the positive limit switch the axis changes direction (reverse),
following the procedure detailed above, but ignoring the initial move in the
forward direction.
23
A
B
C
B
C
23
Home Switch