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Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 11
Motion Control in PR Mode
reverse the rotation direction, the servo motor keeps rotating in reverse direction.
Once the motor reaches the limit switch, it changes to low speed (second speed
setting) and operates until the ORG signal switches to low. Next, it starts to look
for the Z pulse. When the motor finds the Z pulse, it decelerates to a stop,
completing the homing.
If the ORG signal is triggered (high, Start point 3), the motor reverses with low
speed (second speed setting) and after the ORG signal switches to low, the motor
returns to look for the Z pulse. Once the Z pulse is found, homing is complete.
If you set the servo motor to look for the Z pulse, or not to look for the Z pulse in
the forward direction (this is similar to the first method mentioned above, (going
in the reverse direction or not to look for the pulse Z).
Referencing the Z Pulse
This method uses the Z pulse as the reference origin. One Z pulse is generated per
rotation of the motor. This method is only suitable when the operation is kept
within one motor rotation.
Figure 91 - Z Pulse as Reference Point
Referencing the falling-edge of the ORG signal.
This method uses the falling-edge signal of the home sensor as the reference
origin. You can choose whether or not to use Z pulse as the reference origin after
the ORG signal is detected.
Summary of Contents for Kinetix 5100 2198-E1004-ERS
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