User manual

180 Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015
Chapter 8 Home an Axis
Active Home to Torque The Home to Torque Level sequence is a type of homing used when a hard stop is going to be used as the home position, as
in a linear actuator.
Torque Level homing is similar to Home Switch homing, with the exception that the torque level is used instead of the home
switch input. This graphic depicts the Position/Velocity for Torque Level Homing.
Torque Level-Marker homing is similar to Home Switch-Marker homing, with the exception that the torque level is used
instead of the home switch input. This graphic depicts the Position/Velocity for Torque Level-Marker Homing.
Table 22 - Active Homing Examples (Continued)
Sequence Description
Homing Vel
Return Vel
Axis Position
Axis Velocity
1
2
4
3
1: End of Travel / Hard Stop
2: Homing Torque Above Threshold = TRUE
3: Homing Torque Above Threshold = FALSE
4: Home Position
Torque Level Homing
Homing Vel
Return Vel
Axis Position
Axis Velocity
1
2
5
3
4
1: End of Travel / Hard Stop
2: Homing Torque Above Threshold = TRUE
3: Homing Torque Above Threshold = FALSE
and Arm Regestration for Encoder Marker
4: Encoder Marker Detected
5: Home Position
Torque Level - Marker Homing