Modes for setting the homing position (P-AXIS-00278)

P-AXIS-00278

Modes for setting the homing position

Description

The MCControlBoolUnit_SetReferencePosition control unit initiates the setting of an axis position as reference position. For more information, see the documentation [HLI// Axis control commands].

There are two possibilities how the adopted axis position can be calculated. After the homing position is adopted, the axis is considered as referenced.

Setting the homing position is triggered on the rising edge of the command element of the set_reference_position control unit. The homing position is calculated from the values of the involved axis parameters or control units at that instant.

Parameter

kenngr.set_refpos_mode

Data type

STRING

Data range

ABSOLUT: The axis position is set to the position defined in the axis parameter P-AXIS-00152.

OFFSET: The new axis position is defined by the encoder position + P-AXIS-00279.

PLC: The reference position is set to the value of the axis-specific refpos_position control unit.

PLC_OFFSET: The new axis position is determined by the encoder position + value of the axis-specific refpos_position control unit.

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

ABSOLUT

Drive types

----

Remarks

The modes OFFSET and PLC_OFFSET are only practical if the encoder delivers an absolute position.

The homing position can only be adopted if no program is active. If an attempt is made to set the homing position while a program is active, an error message ID 70194 is output.