Rockwell Automation Publication 2097-UM001D-EN-P - November 2012
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MotionView Software Configuration
Chapter 5
Table 59 - Homing Methods Summary
Immediate Homing
The immediate home operation on the drive defines the current position of the
motor to be the home and the position set to the [HomeOffset] parameter. The
drive must be in Indexing mode or EtherNet/IP Positioning mode and the drive
must be enabled.
Absolute Homing
The absolute homing on the drive behaves similarly to the Immediate Homing
operation. The homing does not induce shaft motion on the motor. The current
position of the motor is the home position and the position is set to the
[HomeOffset] parameter.
The difference between the absolute position in the encoder and the
[HomeOffset] parameter is stored in nonvolatile memory so that all absolute
motion is relative to the current position. After a power cycle the drive continues
to operate as though it was homed.
For absolute homing on motors with absolute encoders, execute an Immediate
Home.
Home Method
(1)
(2)
(1) All other values of [HomeMethod] are not used for the Kinetix 300 drive and attempts to use those values will result in a drive fault.
(2) Home-to-torque is not available.
Direction
Homing Type
Home Sensor Polarity
7
Switch-Marker
Forward
Bi-directional
Active/Rising
8
Switch-Marker
Forward
Uni-directional
Active/Rising
9
Switch-Marker
Forward
Bi-directional
Active/Falling
10
Switch-Marker
Forward
Uni-directional
Active/Falling
11
Switch-Marker
Reverse
Bi-directional
Active/Rising
12
Switch-Marker
Reverse
Uni-directional
Active/Rising
13
Switch-Marker
Reverse
Bi-directional
Active/Falling
14
Switch-Marker
Reverse
Uni-directional
Active/Falling
23
Switch-Fast
Forward
Home to sensor
Active/Rising
25
Switch-Slow
Forward
Home to sensor
Active/Falling
27
Switch-Slow
Reverse
Home to sensor
Active/Falling
29
Switch-Fast
Reverse
Home to sensor
Active/Rising
33
Marker
Reverse
Home to marker
N/A
34
Marker
Forward
Home to marker
N/A
35
Immediate
N/A
N/A
N/A