Application Note

Home to Torque-level Example

Catalog Numbers
2093-AC05-MPx, 2093-AMxx,
2094-ACxx-Mxx, 2094-AMxx, 2094-ACxx-Mxx-S, 2094-AMxx-S,
2094-BCxx-Mxx, 2094-BMxx, 2094-BCxx-Mxx-S, 2094-BMxx-S,
2099-BMxx-S
Topic Page
About This Publication 1
About Home to Torque-level Homing 3
Drive Bipolar Torque Limit Adjustment 5
Disable Soft Overtravel Limit 6
Ladder Code Example 6
Potential for Position Error Fault 13
Additional Resources 13

About This Publication This application note explains how to use the Home to Torque-level sequence
in RSLogix 5000 software, version 16, 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.

1 Publication MOTION-AT001B-EN-P — August 2007

2 Home to Torque-level Example

Important User Information Solid state equipment has operational characteristics differing from those of
electromechanical equipment. Safety Guidelines for the Application, Installation and
Maintenance of Solid State Controls (publication SGI-1.1 available from your local Rockwell
Automation sales office or online at http://literature.rockwellautomation.com) describes
some important differences between solid state equipment and hard-wired
electromechanical devices. Because of this difference, and also because of the wide variety
of uses for solid state equipment, all persons responsible for applying this equipment must
satisfy themselves that each intended application of this equipment is acceptable.

In no event will Rockwell Automation, Inc. be responsible or liable for indirect or

consequential damages resulting from the use or application of this equipment.

The examples and diagrams in this manual are included solely for illustrative purposes.
Because of the many variables and requirements associated with any particular installation,
Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on
the examples and diagrams.

No patent liability is assumed by Rockwell Automation, Inc. with respect to use of

information, circuits, equipment, or software described in this manual.

Reproduction of the contents of this manual, in whole or in part, without written permission
of Rockwell Automation, Inc., is prohibited.

Throughout this manual, when necessary, we use notes to make you aware of safety
considerations.

WARNING Identifies information about practices or circumstances that can cause

an explosion in a hazardous environment, which may lead to personal
injury or death, property damage, or economic loss.

Identifies information that is critical for successful application and

IMPORTANT
understanding of the product.

ATTENTION Identifies information about practices or circumstances that can lead

to personal injury or death, property damage, or economic loss.
Attentions help you to identify a hazard, avoid a hazard, and recognize
the consequences.

SHOCK HAZARD
Labels may be on or inside the equipment, for example, a drive or
motor, to alert people that dangerous voltage may be present.

BURN HAZARD
Labels may be on or inside the equipment, for example, a drive or
motor, to alert people that surfaces may reach dangerous
temperatures.

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 Home to Torque-level Example 3

About Home to Torque-level Home to torque-level homing is a process that references a known position by
monitoring torque while driving an axis into a mechanical hard-stop. Once the
Homing actual torque level reaches or exceeds a specified torque level for a set time of
500 ms, a status flag is set in the controller.

IMPORTANT Because the process of home to torque-level requires axis

motion, the axis homing mode must be configured as Active.

Axis Properties - Homing Tab

Torque-level Homing
Sequence Type Description
Sets the Home Position after the output torque reaches
the Torque Level value, reverses direction, and moves until
Torque Level
the Homing Torque Above Threshold bit is low and the
status bit sets.
Sets the Home Position after the output torque reaches
Torque Level - Marker the Torque Level value, reverses direction, and encounters
an encoder marker.

When either the Torque Level or Torque Level - Marker homing option is
selected on the Homing tab, the Torque Level field is activated in the Active
Home Sequence Group. The units for this field are a percentage of the
continuous torque of the motor (% Continuous Torque) limited by the
drive-rated current/motor-rated current ratio. This number is interpreted in
the drive as an absolute value and the range is 0...TorqueLimitPositive value.

Forward Bi-directional and Reverse Bi-directional are the only options for the
Direction field when Torque Level or Torque Level - Marker homing sequence
is selected. Uni-directional homing is not possible, because the Home to
Torque-level sequence relies on a mechanical hard-stop.

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4 Home to Torque-level Example

Position/Velocity Diagram for Torque-level Homing

Homing Vel 1

Axis Velocity
2
4
Axis Position

3
Return Vel

1: End of Travel / Hard Stop

2: Homing Torque Above Threshold = TRUE
3: Homing Torque Above Threshold = FALSE
4: Home Position

Position/Velocity Diagram for Torque-level - Marker Homing

Homing Vel 1
Axis Velocity

2
5
Axis Position
3
4 Return Vel

1: End of Travel / Hard Stop

2: Homing Torque Above Threshold = TRUE
3: Homing Torque Above Threshold = FALSE
and Arm Registration for Encoder Marker
4: Encoder Marker Detected
5: Home Position

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 Home to Torque-level Example 5

Drive Bipolar Torque Limit When homing an axis to a mechanical hard-stop, set the Home Torque-level
value above the torque value required to move the system, but low enough not
Adjustment to cause problems with the system mechanics. As part of the process of
homing to a torque limit, limit the Peak Torque value to a level 10% above the
Home Torque value to reduce the stresses on the mechanics and to eliminate
the chance of an over-current fault.

IMPORTANT The 10% value is an estimated starting point. This value may
need adjustment based on the application requirements.

Limit the Peak Torque value before issuing the homing instruction (MAH) and
reset the Peak Torque field to the original value after homing completes.

Bipolar Torque Limit Adjustment

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6 Home to Torque-level Example

Disable Soft Overtravel If the application requires the use of soft-overtravel limits (Limits tab) to
safeguard the system mechanics, the Soft Travel Limits must be disabled for
Limit the axis to home. The Soft Travel Limits must be disabled through
programming to prevent a fault from occurring during the homing operation,
but re-enabled after homing completes.

IMPORTANT Those responsible for the application must determine when it is

safe and appropriate to disable soft-overtravel checking.

Ladder Code Example This example shows how to adjust the peak torque limit and disable the
soft-overtravel limit checking when homing to a torque limit. The code uses a
state model methodology in which each rung of code needs to complete
successfully before moving to the next rung.

IMPORTANT Since the home to torque-level sequence relies on the

mechanical end of travel for operation, Uni-directional homing
is not possible. You must choose between Forward
Bi-directional or Reverse Bi-directional.

Rung 11 of the ladder code checks to make sure that the axis position, after
homing, is within the Soft Travel Limits before re-enabling soft-overtravel
limit checking. In this example a 1.15 cm Offset move is configured in the
Homing tab and that is the final home position. The 0.5 cm is within the Soft
Travel Limits set on the Limits tab.

List of Tags Used

Tag Name Data Type Description

Storage location for FaultConfigurationBits (motion attributes)
Saved_FaultConfig DINT
Bit 0 = soft-overtravel limit checking
Set to -2.
Clear_SoftOT_Mask DINT This masks the off soft-overtravel enable bit without changing
the other bits in the configuration.
Temp_FaultConfig DINT Temporary hold word for FaultConfigurableBits
SoftOT_Disabled BOOL Soft-overtravel checking disabled status bit
Saved_TQLim_Bipolar REAL Storage location for Peak Torque (TorqueLimitBipolar)
HomeTQ_Level REAL Home Torque Level from the Home tab in Axis Properties
Temporary Peak Torque for Homing (10% higher than Home
Temp_TQLim_Bipolar REAL Torque Limit)
Axis_01_MI.MAH MOTION_INSTRUCTION Control for MAH instruction (using a UDT)
Positive_Overtravel REAL Max. Positive Soft-overtravel value
Negative_Overtravel REAL Max. Negative Soft-overtravel value
Saved_PosErrorTol REAL Storage location for Actual Position Error value
Temp_PosErrorTol REAL Temporary Position Error value for Homing

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 Home to Torque-level Example 7

Axis Properties - Homing Tab

Axis Properties - Limits Tab

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8 Home to Torque-level Example

Ladder Code Example

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 Home to Torque-level Example 9

Ladder Code Example, continued

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10 Home to Torque-level Example

Ladder Code Example, continued

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 Home to Torque-level Example 11

Ladder Code Example, continued

10

11

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Ladder Code Example, continued

(End)
12

13

14

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 Home to Torque-level Example 13

Potential for Position Error When executing a torque limit homing procedure there is potential for a
Position Error fault. As mentioned earlier, for the home to torque limit to
Fault complete, the output torque to the motor must reach (or exceed) the specified
torque level for a set time of 500 ms. During this time the axis is against the
mechanical hard-stop, and following error is increasing in the position loop. If
the Position Error Tolerance value is exceeded before completion of the
homing instruction, a Position Error fault (E19) will result.

There are two ways to limit the occurrence of an E19.

• Set the Position Error Tolerance value on the Limits tab of the Axis
Properties to a value high enough to eliminate a fault from occurring.
• Modify the Position Error Tolerance value via an SSV instruction similar
to the method used in code above to change the Bipolar Torque Limit.

TIP The second method is preferred since it temporarily sets

Position Error Tolerance to a value appropriate for homing to a
mechanical hard-stop and then resets it to the original value set
in the Axis Properties dialog box.

Rung 6 of the ladder code opens the Position Error window. This allows the
Homing to complete without causing a Position Error fault. The original value
is reset after Homing completes.

Additional Resources These documents contain additional information concerning related Rockwell
Automation products.

Resource Description
Kinetix 2000 Multi-axis Servo Drive Release Note, Enhancements, known anomalies, and restrictions for your Kinetix 2000
publication 2093-RN001 drive firmware used with RSLogix 5000 software, version 16.
Kinetix 6000 Multi-axis Servo Drive Release Note, Enhancements, known anomalies, and restrictions for your Kinetix 6000
publication 2094-RN007 drive firmware used with RSLogix 5000 software, version 16.
Kinetix 7000 High Power Servo Drive Release Note, Enhancements, known anomalies, and restrictions for your Kinetix 7000
publication 2099-RN002 drive firmware used with RSLogix 5000 software, version 16.

Motion Modules in Logix5000 Control Systems User Manual, Information

on configuring and troubleshooting your ControlLogix and
CompactLogix SERCOS interface modules, and using the home to
publication LOGIX-UM002
torque-level sequence.

You can view or download publications at

http://literature.rockwellautomation.com. To order paper copies of technical
documentation, contact your local Rockwell Automation distributor or sales
representative.

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14 Home to Torque-level Example

Notes:

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 Home to Torque-level Example 15

Notes:

Publication MOTION-AT001B-EN-P — August 2007

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For more information, contact your local distributor or Rockwell Automation
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Allen-Bradley, Kinetix, Rockwell Automation, RSLogix, RSLogix 5000, and TechConnect are trademarks of
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Publication MOTION-AT001B-EN-P — August 200716

Supersedes publication MOTION-AT001A-EN-P — February 2007 Copyright © 2007 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.