Rockwell Automation Publication 750-PM101B-EN-P - April 2022
45
Chapter 3 PowerFlex 755T Control Block Diagrams
Figure 24 - Position Homing
Po
sition
Ho
ming
(
H
o
m
ing)
1
2
3
4
5
6
B
A
D
C
FH
EG
I
Ho
ming St
atu
s
0
1
2
3
Ho
m
e
Re
q
u
e
st
H
o
me En
abl
ed
Ho
m
in
g
At Home
16
40
H
om
e Ct
rl
Op
ti
ons
0
1
2
3
4
5
6
Fi
nd
H
o
m
e
Ho
m
e
DI
Ho
m
e
Ma
rk
er
Re
turn
H
o
m
e
Ps
n R
ed
e
fi
n
e
Ho
mi
ng Al
ar
m
Ho
me DI
In
v
Sp
ee
d
Po
si
ti
on
Homi
ng
16
43
Fi
nd Ho
me
S
peed
16
44
Fi
nd H
o
m
e
R
a
m
p
Home Psn Actual
164
8
Home Psn
User
13
91
PT
P
Co
mm
a
n
d
VRef
A
ll [
G
3]
PRef
1
[E
2
]
7
Ho
ld
At
H
o
m
e
0:
170
D
I F
ind
H
ome
0:
172
DI R
e
defi
n
e
P
sn
0:
173
DI O
L
H
o
me
L
imi
t
466
8
Alar
m
St
atu
s
B
Ho
mi
ng Ac
tv
16
41
+
-
+
-
16
97
Ze
ro
P
o
sition
PReg
[
B
3]
17
45
P
o
si
tion
Act
u
a
l
1.
W
h
en H
om
in
g
fu
nc
ti
o
n i
s en
abl
ed,
Ho
me Ps
n
A
ct
ual
(
164
7
) is
lo
ad
ed wi
th
P
o
si
tion
Fb
(
174
6)
.
2.
W
h
en H
om
in
g
fu
nc
ti
o
n i
s c
ompl
ete
,
Z
e
ro
Pos
it
io
n (
16
97) is
lo
a
ded wi
th
Ho
me Ps
n
A
ct
ual
[1647
] -
Ho
m
e
Ps
n
Use
r [
1648
].
Th
en
Po
sit
io
n
A
ctu
al
[1745
]
is
lo
aded
w
ith
Po
sit
io
n F
b
[1
746]
-
Ze
ro
Po
sit
io
n
[1697
].
3.
W
h
en Pos
it
ion
R
edefin
e
is
enab
led
,
Ho
me Ps
n
A
ct
ual
[1647
] is
lo
aded
w
ith
P
o
si
tion
Fb
[1
746
] .
4. P
a
ramet
e
r
P1
64
9
t
o
P16
5
5
are o
n
ly
ap
pli
c
able
w
h
il
e
p
e
rf
orming
H
o
me
to
T
o
rq
u
e
o
p
erat
io
n.
5.
If
Home Offset
(165
2) is
non
–
z
e
ro,
than t
he
Ho
m
e
Ps
n
A
ct
ual
[1647
] =
[P
o
sition
F
b
[1746
]
/ Marker P
sn]
+/-
Ho
me O
ff
se
t
(165
2). O
nc
e To
rq
ue
Re
fe
re
nc
e >
Ho
me
To
rq Th
re
sh
(1
64
9
),
the
dr
iv
e
r
a
mps
dow
n
t
o
poi
n
t b
af
te
r
Ho
me Torq
Time
(165
1) ex
pire
s.
Driv
e
pe
rf
o
rm
s PTP
mov
e
t
o go bac
k
t
o
Ho
m
e
Ps
n A
ctu
al
[1647
],
whi
ch
is
po
int
c
.
6.
If
Ho
me Off
set
(165
2) is
z
e
ro,
t
h
a
n
H
o
m
e
P
sn Actu
a
l
[1647
]
=
[Pos
itio
n
F
b
[1746
]
/ Mark
er P
sn]
. On
ce
To
rque
Re
fe
re
nc
e >
Ho
me
To
rq Th
re
sh
(1
64
9
),
the
dr
iv
e
r
a
mps
dow
n
t
o
poi
n
t b
af
te
r
Home
To
rq
Time
(165
1) ex
pire
s.
It
s
ta
y
s
at
poin
t b an
d driv
e do
es
n
o
t
p
e
rf
orm
a
n
y PTP
mo
ve.
7.
If
Hom
e
Ct
rl Op
ti
o
n
(164
0)
bit
1
–
Home D
I
an
d
bi
t 8 –
Hom
e
Torq
ue
are
set
and us
e
r
set
s or
to
ggle
bi
t 0 –
F
ind
Ho
me f
rom
0
to
1,
driv
e
do
es
not
ge
ner
a
te
H
o
me
R
eq
u
es
t.
It
w
il
l ge
ne
ra
te
Typ
e
2
A
la
rm –
In
vld Ho
m
ing C
nf
g
.
PReg
[
B
3]
Fd
bk
[H
4]
VRef
Homi
ng
0
:17
1
D
I R
e
tu
rn
Ho
me
16
47
17
46
Po
sit
io
n F
b
a
b
c
8
Ho
m
e
T
o
rqu
e
16
49
Ho
me Torq
Thresh
16
50
Ho
me Torq
L
imit
16
51
Hom
e
To
rq
Time
16
52
Home Offset
165
3
Hom
e
R
e
turn
Spd
165
4
Home
A
ccel
16
55
Home D
e
ce
l
Ho
ming Ev
ent
trl
s
ef
y
trl
l
ilt
s
l
el
Homin
g
