Rockwell Automation MPAS Integrated Linear Stages - Manual (Page 56)

56 Rockwell Automation Publication MP-UM001D-EN-P - September 2013
Chapter 6 Configuration Guidelines
Home to Torque
Programming for Kinetix
Multi-axis Drives with Linear
Stages If you are using a Kinetix 2000 or Kinetix 6000 drive, read and apply Appendix E,
Home to Torque-level Example , to your system-level program.
This appendix provides information on using torque-level homing to reference a
known (home) position by monitoring torque while driving an axis into a
mechanical hard-stop.
IMPORTANT Perform Home to Torque Programming after you have tuned your drive and
linear stage combination.
Successfully complete tuning by performing the steps starting on page 43 .