Siemens SIMATIC S7-1500 Function Manual page 49

Motion sequence
The motion occurs in the following sequence:
1. Start of active homing via the Motion Control instruction "MC_Home"
2. Detection of the rising edge at the digital input, while moving at homing velocity
3. Approach to the homing mark
4. Detection of the homing mark
5. Approach to the home position
S7-1500 Motion Control V13 Update 3
Function Manual, 07/2014, A5E03879256-AC
In the example, the falling edge of the switch at the digital input represents the homing
mark.
When the homing mark is detected, the position of the axis or encoder is set depending
on the configured mode:
– Parameter "Mode" to "MC_Home" = 3
Position = value in parameter "Position" minus
<TO>.Sensor[n].ActiveHoming.HomePositionOffset
– Parameter "Mode" to "MC_Home" = 5
Position = value in the tag <TO>.Homing.HomePosition minus
<TO>.Sensor[n].ActiveHoming.HomePositionOffset
Note
Parameter "MC_Home.Mode"
The "MC_Home.Mode" parameter for S7-1200 Motion Control and S7-1500 Motion
Control has been standardized within the framework of technology version V2.0. This
results in a new assignment of the parameter values for the "MC_Home.Mode"
parameter. A comparison of the "MC_Home.Mode" parameter for technology versions
V1.0 and V2.0 is available in the section Version overview (Page 86).
– Parameter "Mode" to "MC_Home" = 3
The axis moves to the position that is specified in the "Position" parameter.
– Parameter "Mode" to "MC_Home" = 5
The axis moves to the position that is specified in the <TO>.Homing.HomePosition
tag.
Note
If the velocity on the span from the detection of the rising edge to the falling edge cannot
be reduced to the homing velocity, then homing occurs at the velocity that exists when
the homing mark is traversed.
Basics
3.14 Homing
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