Allen-Bradley MPAI-A C Series Installation Instructions Manual page 33

2. Click the Homing tab.
3. Set parameters for either absolute homing or torque level-to-marker homing as shown in
the table.
Parameter
Mode
Position
Offset
Sequence
Direction
Torque Level
Speed
Return Speed
(1) Torque Level-to-Marker is not available with the Kinetix 6500 drive.
4. Complete these steps for absolute homing.
a. Use motion direct commands to slowly jog your axis to the home location for your
application, being sure to not exceed 10 mm/s (0.4 in/s).
b. Issue the Motion Direct Command (MAH) to set the home position on your axis.
5. Click the Limits tab.
6. Enter these parameters.
Parameter
Hard Travel Limits
Soft Travel Limits
Maximum Positive
Maximum Negative
Rockwell Automation Publication MPAI-IN001F-EN-P - January 2016
Absolute Homing
Value
Absolute
0, typical
N/A
Immediate
N/A
N/A
N/A
N/A
ATTENTION: Avoid excessive force while homing the electric cylinder. Do not exceed
10 mm/s (0.4 in/s) during a home routine.
Speeds greater than 10 mm/s (0.4 in/s) can damage the electric cylinder when the
thrust rod reaches the end of travel.
Entry/Selection, with Applicable Distance Unit Settings
Check if hardware limits are in use. Use the
maximum stopping distance in your application to set negative and positive limits.
Check if software limits are in use. Use the
maximum stopping distance in your application to set negative and positive limits.
Enter a value that is within the thrust rod mechanical travel.
Enter a value that is within the thrust rod mechanical travel.
MP-Series Heavy-duty Electric Cylinders
Torque Level-to-Marker Homing
Value
Active
0, typical
0 mm
(1)
Torque Level-to-Marker
Reverse Bi-directional
30%, min
Greater if the system friction, force, or weight exceeds 30% of
the Continuous Force Rating at any point in the range of
motion
10 mm/s (1.97 in/s)
10 mm/s (0.39 in/s)
Motion Analyzer
Motion Analyzer
software to determine the
software to determine the
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