Rockwell Automation Publication 2080-UM002K-EN-E - March 2019 129
Motion Control Chapter 7
4. Move to the configured home position. The mechanical home position
recorded during moving back sequence, plus the home offset configured
for the axis through the Connected Components Workbench software.
Scenario 3: Moving part at left (negative) side of Lower Limit switch before
homing starts
In this case, the homing motion fails and moves continuously to the left until
drive or moving part fails to move. User needs to make sure the moving part at the
proper location before homing starts.
MC_HOME_DIRECT
MC_HOME_DIRECT (4) homing procedure performs a static homing by
directly forcing an actual position. No physical motion is performed in this mode.
This is equivalent to a MC_SetPosition action, except that Axis Homed status
will be on once MC_Home (mode = 4) is performed successfully.
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