Siemens SIMATIC S7-1200 System Manual page 729

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Sequence for active homing

You start active homing with motion control instruction "MC_Home" (input parameter

Mode = 3). Input parameter "Position" specifies the absolute reference point coordinates in

this case. Alternatively, you can start active homing on the control panel for test purposes.

The following diagram shows an example of a characteristic curve for an active reference

point approach with the following configuration parameters:

● "Approach direction" = "Positive approach direction"

● "Reference point switch" = "Top (positive) side"

● Value of "home position offset" > 0

Table 10- 53 Velocity characteristics of MC homing

Search phase (blue curve segment): When active homing starts, the axis accelerates to the configured "approach

velocity" and searches at this velocity for the reference point switch.

Reference point approach (red curve section): When the reference point switch is detected, the axis in this example

brakes and reverses, to be homed on the configured side of the reference point switch at the configured "homing

Travel to reference point position (green curve segment): After homing at the reference point switch, the axis travels

to the "Reference point coordinates" at the "homing velocity". On reaching the "Reference point coordinates", the

axis is stopped at the position value that was specified in the Position input parameter of the MC_Home instruction".

S7-1200 Programmable controller

System Manual, V4.2, 09/2016, A5E02486680-AK

Technology instructions

Approach velocity

Homing velocity

Home position coordinate

Home position offset

10.3 Motion control