Allen-Bradley Kinetix 5100 2198-E1004-ERS, User Manual, Page: 259 / 500

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
259
Motion Control in PR Mode
Chapter 11
The PR Homing mode includes the function for setting the origin offset. You can
define any point on the coordinate axis as the reference origin, which does not
have to be 0. Once you define the reference origin, the system can create the
coordinate system for the motion axis. See Figure 87 . The coordinate for the
reference origin is 2000 (P6.001 = 2000). The motor passes by the reference
origin and then stops at coordinate 1477. From the coordinate system that it
created, the system automatically calculates the position of the 0 point. As soon as
the PR motion command is issued, the motor moves to the specified position.
Figure 87 - Reference Origin
Origin and Speed Settings for Homing
Parameter ID398 (P6.001) HomePosition defines the origin. The range is
-2147483648…2147483647.
The homing procedure goes through two stages: high speed and low speed.
Homing starts in high speed, seeking the reference point (such as the limit switch
and ORG signal). Once the servo detects the reference point, the motor runs at
low speed to find the reference point accurately (such as the Z pulse). The speeds
for the two stages are defined by ID298 (P5.005) HomingSpeed and ID299
(P5.006) HomingCreepSpeed.
Figure 88 - Speed Settings for Homing