Rockwell Automation 999 IMC S Class Compact Motion Controller (Cat. No. 4100-999-122) - Manual (Page 112)

5-32 Understanding IMC-S/23x Setups
Publication 999-122 - January 1997
Homing to a Limit Switch and Marker
This is the most precise active homing sequence available. When this
sequence is performed, the axis moves in the specified home direction
at the specified homing velocity until the home limit switch is detected.
The axis then decelerates to a stop and moves in the opposite direction
at the specified return velocity until the home limit switch is cleared.
After clearing the home limit switch, the axis continues in the same
direction at the return velocity until the first encoder marker is detected.
The home position is assigned to the axis position at the moment the
marker is detected, and the axis then decelerates to a stop. The axis then
moves back to the home position at the return velocity. Axis motions
for this homing sequence are shown below.
Limit Switch Contacts
In home sequences that utilize a home limit switch, the limit switch
contact configuration can be specified as being
NORMAL OPEN or
NORMAL CLOSED . Toggle to the contact type that matches your switch
and press ENTER.
1. Toggle to the desired homing direction (negative or positive)
2. Select Enter.
Homing velocity sets the speed in user units/second. Refer to Homing
to a Limit Switch and a Marker for more information.
Home Direction: Positive
Home Direction: Positive
Homing VEL (user units/sec) = xxx