124 Rockwell Automation Publication 2080-UM002K-EN-E - March 2019
Chapter 7 Motion Control
Scenario 1: Moving part at right (positive) side of home switch before
homing starts
The homing motion sequence for this scenario is as follows:
1. Moving part moves to the left side (negative direction);
2. When home switch is detected, the moving part decelerates to stop;
3. Moving part moves back (positive direction) in creep velocity to detect
home switch On → Off edge;
4. Once home switch On → Off is detected, record the position as
mechanical home position, and decelerate to stop;
5. Move to the configured home position. The mechanical home position
recorded during moving back sequence, plus the home offset configured
for the axis in the Connected Components Workbench software.
Scenario 2: Moving part is in between Lower Limit and Home switch before
homing starts
The homing motion sequence for this scenario is as follows:
1. Moving part moves to its left side (negative direction);
2. When lower limit switch is detected, the moving part decelerates to stop,
or stop immediately, according to limit switch hard stop configuration;
3. Moving part moves back (in positive direction) in creep velocity to detect
home switch On → Off edge;
4. Once home switch On → Off edge is detected, record the position as
mechanical home position, and decelerate to stop;
5. Move to the configured home position. The mechanical home position
recorded during moving back sequence, plus the home offset configured
for the axis in the Connected Components Workbench software.
Scenario 3: Moving part on Lower Limit or Home switch before homing starts
The homing motion sequence for this scenario is as follows:
1. Moving part moves to its right side (in positive direction) in creep velocity
to detect home switch On → Off edge;
2. Once home switch On → Off edge is detected, record the position as
mechanical home position, and decelerate to stop;
If Lower Limit switch is not configured, or not wired, the homing motion
fails, and moves continuously to the left until the drive or moving part
fails to move.
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