Rockwell Automation 2097-Vxxx Kinetix 300 EtherNet/IP Indexing Servo Drive User Manual - Manual (Page 121)

Rockwell Automation Publication 2097-UM001D-EN-P - November 2012 121
MotionView Software Configuration Chapter 5
The axis accelerates to slow-homing velocity in the forward 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 reverse direction. Motion
continues until the falling-edge of the homing switch is detected (position 27).
This is the home position (excluding offset).
Figure 70 - Homing Method 27Homing Method 29
Using this method, the initial direction of movement is reverse (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 leftward direction and
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 forward direction. 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 reverse direction. Motion
continues until the rising-edge of the homing switch is detected (position C),
where the axis decelerates to 0 velocity.
TIP If the axis is on the wrong side of the homing switch when homing is started,
then the axis moves reverse until it contacts the negative limit switch (A1).
Upon activating the negative limit switch the axis changes direction (forward)
continuing motion until it sees the rising-edge of the homing switch. The axis
stops and follows the procedure as detailed above.
27
A
B
A
B
27
Home Switch