Rockwell Automation 2097-Vxxx Kinetix 300 EtherNet/IP Indexing Servo Drive User Manual - Manual (Page 120)

120 Rockwell Automation Publication 2097-UM001D-EN-P - November 2012
Chapter 5 MotionView Software Configuration
Homing Method 25
Using this method, the initial direction of movement is forward. The home
position is the falling-edge of the homing switch.
The axis accelerates to fast-homing velocity in the forward direction and motion
continues until the homing switch is deactivated (falling edge) shown at
position A. The axis decelerates to zero velocity.
The axis accelerates to slow-homing velocity in the leftward direction. Motion
continues until the rising-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 rightward direction. Motion continues until the falling-edge of the
homing switch is detected (position 25). This is the home position (excluding
offset).
Figure 69 - Homing Method 25
Homing Method 27
Using this method, the initial direction of movement is reverse. The home
position is the falling-edge of the homing switch.
The axis accelerates to fast-homing velocity in the reverse direction and motion
continues until homing switch is deactivated (falling edge) shown at position A.
The axis decelerates to zero velocity.
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 (A2). Upon
activating the positive limit switch the axis will change direction (reverse)
continuing motion until it sees the rising edge of the homing switch. The axis
stops and follows the procedure as detailed above.
25
A
B
A
B
25
Home Switch