User guide

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 91
Appendix E
Home to Torque-level Example
Use this appendix to become familiar with the Home to Torque-level sequence in
RSLogix 5000 software, version 16.xx or later or the Logix Designer application,
and the considerations required when using this homing method.
This document provides an example for a typical homing program routine. The
example shown does not claim to be complete and does not apply to any specific
application.
Applicable Drives
This information in this document applies to the following drives.
Topic Page
Applicable Drives 91
About Home to Torque-level Homing 92
Drive Bipolar Torque Limit Adjustment 94
Disable Soft Overtravel Limit 95
Ladder Code Example 95
Potential for Position Error 102
Drive Type Catalog Number
Kinetix 2000 2093-AC05-MPx, 2093-AMxx
Kinetix 6000 2094-ACxx-Mxx, 2094-AMxx, 2094-ACxx-Mxx-S, 2094-AMxx-S,
2094-BCxx-Mxx, 2094-BMxx, 2094-BCxx-Mxx-S, 2094-BMxx-S