Description

P-AXIS-00014	Identification code for absolute path measurement system
Description	If an absolute path measurement system is used, then the parameter must be set to 1. So no homing is necessary.
Parameter	kenngr.abs_pos_gueltig
Data type	BOOLEAN
Data range	0/1
Axis types	T, R, S
Dimension	T: ----	R,S: ----
Default value	0
drive types.	Simulation, SERCOS,
Remarks

P-AXIS-00015	Axis mode
Description	Axes can be traversed in different operating modes.
Parameter	kenngr.achs_mode
Data type	UNS32
Data range	0x00000001 - 0x10000000
Axis types	T, R, S
Dimension	T: ----	R,S: ----
Default value	0x00000001
Drive types	----
Remarks

The following operation modes can be parameterised⁽¹⁾:

Value	Meaning		Axis type	Interpolator type
	Description	ACHSMODE_		Path	Spindle
0x00000001	The axis is operated as a linear axis; no modulo calculation is executed in the channel. For example, rotary axis with restricted motion range; must be set as default for linear axes.	..LINEAR⁽¹⁾	T, R	X
0x00000004	A modulo calculation always takes place after the destination position has been reached. Regardless of the operation mode selected for rotary axes, a modulo calculation is always executed in the position controller. In this way, modulo circle compensation can be executed if required.	..MODULO⁽¹⁾	R	X	X
0x00000040	Axis is used as a face turning axis (turning functions).	..PLANDREHEN	T	X
0x00000080	Axis is used as a longitudinal turning axis (turning functions).	..LAENGSDREHEN	T	X
0x00000100	For a spindle an automatic homing before positioning the spindle can be pre-vented. This is only relevant if the axis is not referenced. The function is drive-dependent.	..KEINE_AUTO_RPF	R		X
0x00000200	Axis for kinematic 'C axis' transformation.	..CAX	R	X	X
0x00000400	Modulo calculation for linear axis. (Example: conveyor belt with drive motor where the position on the belt is programmed in mm).	..MODULO_LINEAR	R	X
0x00000800	Axis is released for mechanical blocking by the PLC. This axis mode is not available for TwinCAT systems.	..CLAMPABLE	T, R	X
0x00001000	Axis carries a rotary workpiece table.	..ROT_TABLE	T, R	X
0x00008000	Monitoring of axis collision.	..COLL_CHECK	T	X
0x00010000	Master axis of gantry coupling.	..GANTRY_MASTER	T, R	X
0x00020000	Slave axis of gantry coupling.	..GANTRY_SLAVE	T, R	X
0x00040000	Identifier for PLC spindle with axis interface	..SPINDLE_EXT_CTRL	R		X
0x00080000	Input axis for additional external position command values (e.g. distance control).	..EXT_CTRL_INPUT	T	X
0x00100000	Pure encoder axis, only to display actual values (e.g. conveyor belt).	..COUNTER	T, R	X	X
0x00200000	Lead axis in combination with single feed axis and G194 (contouring with DIST_MASTER)	..LEAD_AXIS	T, R	X
0x00400000	The resolution (wegaufz/wegaufn) of this axis can be changed.	..ALLOW_RESOLUTION_ CHANGE⁽²⁾	T, R	X	X
0x00800000	Path-dependent dynamic weighting for this axis is possible.	..DYNAMIC_WEIGHTING	T, R	X
0x02000000	Path axis for tool centre point path	..PATH_LENGTH_TCP	R	X
0x04000000	Path axis for contour path	..PATH_LENGTH_ CONTOUR	R	X
0x08000000	Virtual lead axis for path interpolation	..VIRT_LEAD_AXIS	R	X
0x10000000	Axis carries the pressure roller for edge bending.	..LAH_OFFSET_AXIS	R	X

Notice

(1) One of the two following axis modes must always be specified:

- ACHSMODE_LINEAR or
- ACHSMODE_MODULO

All other bits of the parameter achs_mode are additional specifications. For example, the ACHSMODE_MODULO_LINEAR bit is only useful if combined with the ACHSMODE_MODULO bit.

Notice

(2) Changing certain axis parameters while the controller is running may be critical, e.g. path resolution. Therefore, this parameter can be enabled by setting the bit ALLOW_RESOLUTION_CHANGE in axis mode. Otherwise these parameters (P-AXIS-00234, P-AXIS-00233) can no longer be changed after the controller is started.

When the bit ALLOW_RESOLUTION_CHANGE is set, a check is first made whether the axis is interpolated, also when other critical parameters change. If the axis is currently in motion, this parameter update is rejected.

P-AXIS-00036	Access to cam signals
Description	The parameter defines the access to cam signals.
Parameter	lr_hw[i].cam_direct_access
Data type	BOOLEAN
Data range	0/1
Axis types	T, R, S
Dimension	T: ----	R,S: ----
Default value	1
drive types.	Conventional, Terminal, Lightbus, Profidrive
Remarks	This entry is not adopted when the axis parameter list is updated. Updates only become effective when the controller is rebooted.

P-AXIS-00038	Level of cam signals
Description	The parameter defines the level of cam signals.
Parameter	lr_hw[i].cam_level
Data type	BOOLEAN
Data range	0: 0-signal is active level. When the reference cam switch is actuated, the value of the control unit element pAC[axis_idx]^.addr^.McControlLr_Data.MCControlBoolUnit_ReferenceCam.X_Command on the HLI is FALSE (see [HLI]). 1: 1-signal is active level (default). When the reference cam switch is actuated, the value of the control unit element pAC[axis_idx]^.addr^.McControlLr_Data.MCControlBoolUnit_ReferenceCam.X_Command on the HLI is TRUE (see [HLI]).
Axis types	T, R, S
Dimension	T: ----	R,S: ----
Default value	1
drive types.	Conventional, Terminal, Lightbus, Profidrive
Remarks

P-AXIS-00064	Slow / fast movement down from cam
Description	This parameter sets the velocity during reversion down from cam.
Parameter	kenngr.fast_from_cam
Data type	BOOLEAN
Data range	0: Slow movement down from cam 1: Fast movement down from cam (default)
Axis types	T, R
Dimension	T: ----	R: ----
Default value	1
drive types.	----
Remarks	For further hardware-specific parameters relating to homing with cam, see P-AXIS-00036 - P-AXIS-00039.

P-AXIS-00074	Suppress homing for gantry slave axis
Description	This parameter can suppress the homing of gantry slave axes. When homing of the master axis is completed, the reference positions entered in the axis parameter lists of the slave axes are also adopted and monitoring of the gantry difference is started.
Parameter	kenngr.gantry_slave_no_homing
Data type	BOOLEAN
Data range	0/1
Axis types	T, R
Dimension	T: ----	R: ----
Default value	0
drive types.	----
Remarks	This parameter is not supported in the case of spindle axes.

P-AXIS-00084	Homing only with cam (without zero pulse)
Description	The homing position is detected by travel on the cam.
Parameter	kenngr.homing_without_zero_pulse
Data type	BOOLEAN
Data range	0: Homing with zero pulse of rotary transducer (default value). 1: Homing without zero pulse of rotary transducer (low accuracy).
Axis types	T, R
Dimension	T: ----	R:----
Default value	0
drive types.	----
Remarks	For further hardware-specific parameters relating to homing with cam, see P-AXIS-00036 - P-AXIS-00039.

P-AXIS-00152	Position of the reference point
Description	If homing is completed, the value from the parameter P-AXIS-00152 is taken as the absolute position for the axis
Parameter	getriebe[i].pos_refpkt
Data type	SGN32
Data range	swe_neg < pos_refpkt < swe_pos
Axis types	T, R, S
Dimension	T: 0.1 µm	R,S: 0.0001 °
Default value	0
drive types.	Simulation, Conventional, Terminal, Lightbus, Profidrive, CANopen
Remarks

P-AXIS-00156	Homing without cam
Description	A changeover of homing strategy can be carried out so that homing is done without cam (e.g. only with zero pulse), i.e. without reverting. In this case the parameter P-AXIS-00156 should be set to TRUE.
Parameter	kenngr.ref_ohne_nocken
Data type	BOOLEAN
Data range	0/1
Axis types	T, R, S
Dimension	T: ----	R,S: ----
Default value	0
drive types.	Conventional, Terminal, Lightbus, Profidrive
Remarks	To be assigned for analogue spindles only. If P-AXIS-00156 is assigned with 1 (TRUE), then it is imperative that P-AXIS-00157 is assigned with 1 (TRUE).

P-AXIS-00157	Homing without reverting
Description	Via parameter P-AXIS-00157 a restriction of homing can occur that will prohibit any reverting.
Parameter	kenngr.ref_ohne_rev
Data type	BOOLEAN
Data range	0/1
Axis types	T, R, S
Dimension	T: ----	R,S: ----
Default value	0
drive types.	Conventional, Terminal, Lightbus, Profidrive
Remarks	The speed during reversing is set with the parameter P-AXIS-00064 (fast_from_cam). By reverting, it is possible to repeatedly move to the reference cam at slow speed. To be assigned for analogue spindles only. P-AXIS-00157 must be assigned with 1 (TRUE) if P-AXIS-00156 is assigned with 1 (TRUE).

P-AXIS-00158	Preferred direction of axis for homing
Description	The parameter P-AXIS-00158 specifies the direction of travel if the axis does not remain on a cam. The declaration of the signal level when the reference switch is actuated is given by the axis parameter P-AXIS-00038.
Parameter	kenngr.ref_richt
Data type	BOOLEAN
Data range	0: Negative direction 1: Positive direction
Axis types	T, R, S
Dimension	T: ----	R,S: ----
Default value	0
drive types.	Simulation, Conventional, Terminal, Lightbus, Profidrive
Remarks	Positive direction signifies that the coordinate values increase. Negative direction signifies that the coordinate values decrease.

P-AXIS-00161	Tool path up to zero pulse during homing simulation
Description	The parameter defines the tool path up to zero pulse during homing simulation.
Parameter	antr.simu.rpf_weg_bis_nip
Data type	SGN32
Data range	MIN(SGN32) ≤ rpf_weg_bis_nip ≤ MAX(SGN32)
Axis types	T, R, S
Dimension	T: 0.1µm	R,S: 0.0001 °
Default value	10
drive types.	Simulation
Remarks

P-AXIS-00218	Slow velocity for exact detection of reference position
Description	Not only the traverse downwards of cam but also the traverse on cam with homing takes place at the velocity P-AXIS-00218.
Parameter	getriebe[i].vb_reflow
Data type	UNS32
Data range	1 ≤ vb_reflow ≤ P-AXIS-00219
Axis types	T, R, S
Dimension	T: µm/s	R,S: 0.001°/s
Default value	16666
drive types.	Simulation, Conventional, Terminal, Lightbus, Profidrive
Remarks

P-AXIS-00219	Fast velocity for detection of reference cam
Description	At start of homing, if the axis is not on the cam, then travel on the cam takes place at the velocity defined in P-AXIS-00219.
Parameter	getriebe[i].vb_refmax
Data type	UNS32
Data range	P-AXIS-00218 ≤ vb_refmax ≤ P-AXIS-00212
Axis types	T, R, S
Dimension	T: µm/s	R,S: 0.001°/s
Default value	83333
drive types.	Conventional, Terminal, Lightbus, Profidrive
Remarks

P-AXIS-00294	Selection of the homing method 'Evaluation of encoder overflow'
Description	This homing method is selected with the parameter P-AXIS-00294. To use this option, the parameter P-AXIS-00084 must be assigned the value 0. The number of bits used to detect encoder overflow has to be set in parameter P-AXIS-00355 .
Parameter	kenngr.homing_overflow_evaluation
Data type	BOOLEAN
Data range	0: No evaluation of encoder overflow (default). 1: Evaluation of encoder overflow.
Axis types	T, R, S
Dimension	T: ----	R,S: ----
Default value	0
drive types.	Lightbus
Remarks	This homing method only leads to a repeatable homing position of the axis when encoder overflow occurs every time at the same mechanical position of the axis. This is true for example for resolver encoders.

P-AXIS-00299		Homing type
Description		There are two different homing methods: 1. NC-controlled homing 2. Drive-controlled homing With NC-controlled homing, the generation of command values and sequence control (evaluation of reference cams and zero pulses) are handled in the CNC. With drive-controlled homing, motion generation and the evaluation of cam signals and zero pulses are handled in the drive. The homing method can be set up for drives types (P-AXIS-00018) for which both homing methods are implemented with this parameter.
Parameter		kenngr.homing.homing_type * (Note: see *-note below)
Data type		STRING
Data range		CNC_CONTROLLED: CNC-controlled homing is done. DRIVE_CONROLLED: Drive-controlled homing is done. DISABLED: This axis cannot be homed. The CNC generates the error message P-ERR-50685 or P-ERR-60313 if homing is commanded for the axis (e.g. G74). This setting is only intended for axes with an absolute measuring system (see P-AXIS-00014). IGNORE_ABS_POS: Axes with this setting are ignored during homing, i.e. the axis is not homed even if G74 <axis_name> is programmed. In this case the CNC generates no error message contrary to the setting DISABLED. The mode IGNORE_ABS_POS is only permitted for axis with an absolute position measuring system, meaning the parameter kenngr.abs_pos_gueltig (see P-AXIS-00014) must be set to 1. Otherwise, the CNC generates the error warning P-ERR-110584.
Axis types		T, R, S
Dimension		T: ----		R,S: ----
Default value		CNC_CONTROLLED
Drive types		----
Remarks		* alternative: kenngr.homing_type (old syntax) If the homing command G74 involves multiple axes with different homing type setting e.g. G74 X1 Y1 Z2, the axis with kenngr.homing_type != IGNORE_ABS_POS/ DISABLED will move and try to find the homing switch while there is no movement on the homing suppressed axes. Therefore it must be ensured that no collision can occur. If a homing type which is not supported by the drive type is set up, an error P-ERR-110384 is generated and default homing type is corrected. If this entry is not present in the parameter list, the default homing type is used according to the drive type:
	Drive type		CNC_CONTROLLED		DRIVE_CONTROLLED
	Simulation		X*
	SERCOS		X		X*
	Terminal		X*
	Lightbus		X*
	RT-Ethernet		X*
	PROFIDRIVE		X*
	CANopen		X*		X
	* Default homing type

P-AXIS-00321	Input interface for reference cam signal
Description	In the default setting with CNC-controlled homing, the reference cam signal is read from the HLI [HLI]. For some drive types it is possible to use the drive digital inputs as reference cam input. In this case the appropriate input has to be configured in P-AXIS-00321. If this parameter is not set, the reference cam signal is read from the PLC interface.
Parameter	antr.reference_cam_signal
Data type	STRING
Data range	Dependent on the drive type the following different names for the digital inputs are possible: Drive type SERCOS: PLC Read reference cam signal from HLI (default) RT_STATUS_BIT_1 Read reference cam signal from real time status bit 1 RT_STATUS_BIT_2 Read reference cam signal from real time status bit 2 Drive type CANopen: PLC Read reference cam signal from HLI (default) STATUS_DIG_INPUTS (*) Reference cam signal from object 0x60FD : Digital inputs
Axis types	T, R, S
Dimension	T: ----	R,S: ----
Default value	PLC
drive types.	SERCOS, Lightbus,CANopen
Remarks	Caution: It is only possible to use real-time status bits with NC-controlled homing, see also [CMS-A1]. If the drive digital inputs are used, they must also be parameterised using the drive manufacturer’s set-up tool. The transmission of the digital inputs in the cyclic telegram must also be configured. (*) For the transmission of the reference cam state, the object 0x60FD: Digital inputs must be configured (see DS402 drive profile). Otherwise, the error message with error code P-ERR-70292 is output.

P-AXIS-00354	Shifting of encoder overflow
Description	When homing with encoder overflow this parameter can shift the reference position. A positive value for P-AXIS-00354 will shift the reference position in the positive movement direction of the axis.
Parameter	antr.encoder_overflow_offset
Data type	SGN32
Data range	application-specific
Axis types	T, R, S
Dimension	T: 0.1 µm	R,S: 0.1 µm
Default value	0
drive types.	SERCOS, Lightbus,CANopen
Remarks	The reference position can only be shifted within one encoder revolution. If larger values for P-AXIS-00354 are defined, the error message P-ERR-70310 is output and P-AXIS-00354 is corrected to 0.

P-AXIS-00355	Number of bits for evaluation of encoder overflow
Description	When homing on encoder overflow, this parameter defines the number of bits of the drive's actual position value that are taken into account to detect encoder overflow. The actual position value of the drive system is AND-combined with the value (2^P-AXIS-00355 -1) and the underflow or overflow of the resulting value is considered as encoder overflow.
Parameter	antr.encoder_bit_range
Data type	UNS08
Data range	1 … 31
Axis types	T, R, S
Dimension	T: ----	R,S: ----
Default value	0
drive types.	SERCOS, Lightbus,CANopen
Remarks

P-AXIS-00386	Drive supported execution of the CNC based homing (SERCOS)
Description	By default CNC-controlled homing for SERCOS drives is only executed in the controller; the drive-internal positions are not altered. If the drive supports the SERCOS command S-0-146 (CNC-controlled homing), this parameter can enable the command S-0-146 for CNC-controlled homing. The advantage of this method is that, after homing is finished, the drive-internal positions are also referenced so that drive-internal software limit switches can be used, for example. The reference position used for homing is P-AXIS-00152. This value is transferred to the drive during homing
Parameter	antr.sercos.drive_supports_cnc_homing
Data type	BOOLEAN
Data range	0/1
Axis types	T, R, S
Dimension	T: ----	R,S: ----
Default value	0
drive types.	SERCOS
Remarks	This parameter is currently not supported for spindles. In addition to command S-0-146 the drive must support the following commands: S-0-171 (Calculate displacement) S-0-172 (Displacement to referenced system) S-0-191 (Cancel reference point procedure) For further information please refer to the drive manufacturer's documentation..

P-AXIS-00387	Assignment of control and status bits for CNC based homing (SERCOS)
Description	To execute CNC-controlled homing with drive support, two control bits and two status bits are required. The real-time control and status bits can be used in the drive control and status word or alternatively as bits in the signal status and signal control word.
Parameter	antr.sercos.cnc_homing_rt_bit_layout
Data type	UNS16
Data range	1 ≤ cnc_homing_rt_bit_layout ≤ 16
Axis types	T, R, S
Dimension	T: ----	R,S: ----
Default value	0
drive types.	SERCOS
Remarks	When the status and control bits are transferred in the signal status and control words, they must be configured in the cyclic process data, otherwise the error message P-ERR-70295 is output.

Assign the values of P-AXIS-00387 to the possible bit assignments:

Value	Process data	Bit number	Meaning	Ident
1	Control word	Real-time bit 1 (S-0-301)	Homing enable	S-0-407
		Real-time bit 2 (S-0-303)	Position command value referenced	S-0-404
	Status word	Real-time bit 1 (S-0-305)	Position marker pulse detected	S-0-408
		Real-time bit 2 (S-0-307)	Actual value referenced	S-0-403
2	Signal control word	Bit 0 (S-0-27[0])	Homing enable	S-0-407
		Bit 1 (S-0-27[1])	Position command value referenced	S-0-404
	Signal status word	Bit 0 (S-0-26[0])	Position marker pulse detected	S-0-408
		Bit 1 (S-0-26[1])	Actual value referenced	S-0-403
3	Signal control word	Bit 1 (S-0-27[1])	Homing enable	S-0-407
		Bit 2 (S-0-27[2])	Position command value referenced	S-0-404
	Signal status word	Bit 1 (S-0-26[1])	Position marker pulse detected	S-0-408
		Bit 2 (S-0-26[2])	Actual value referenced	S-0-403
4	Signal control word	Bit 2 (S-0-27[2])	Homing enable	S-0-407
		Bit 3 (S-0-27[3])	Position command value referenced	S-0-404
	Signal status word	Bit 2 (S-0-26[2])	Position marker pulse detected	S-0-408
		Bit 3 (S-0-26[3])	Actual value referenced	S-0-403
5	Signal control word	Bit 3 (S-0-27[3])	Homing enable	S-0-407
		Bit 4 (S-0-27[4])	Position command value referenced	S-0-404
	Signal status word	Bit 3 (S-0-26[3])	Position marker pulse detected	S-0-408
		Bit 4 (S-0-26[4])	Actual value referenced	S-0-403
6	Signal control word	Bit 4 (S-0-27[4])	Homing enable	S-0-407
		Bit 5 (S-0-27[5])	Position command value referenced	S-0-404
	Signal status word	Bit 4 (S-0-26[4])	Position marker pulse detected	S-0-408
		Bit 5 (S-0-26[5])	Actual value referenced	S-0-403
7	Signal control word	Bit 5 (S-0-27[5])	Homing enable	S-0-407
		Bit 6 (S-0-27[6])	Position command value referenced	S-0-404
	Signal status word	Bit 5 (S-0-26[5])	Position marker pulse detected	S-0-408
		Bit 6 (S-0-26[6])	Actual value referenced	S-0-403
8	Signal control word	Bit 6 (S-0-27[6])	Homing enable	S-0-407
		Bit 7 (S-0-27[7])	Position command value referenced	S-0-404
	Signal status word	Bit 6 (S-0-26[6])	Position marker pulse detected	S-0-408
		Bit 7 (S-0-26[7])	Actual value referenced	S-0-403
9	Signal control word	Bit 7 (S-0-27[7])	Homing enable	S-0-407
		Bit 8 (S-0-27[8])	Position command value referenced	S-0-404
	Signal status word	Bit 7 (S-0-26[7])	Position marker pulse detected	S-0-408
		Bit 8 (S-0-26[8])	Actual value referenced	S-0-403
10	Signal control word	Bit 8 (S-0-27[8])	Homing enable	S-0-407
		Bit 9 (S-0-27[9])	Position command value referenced	S-0-404
	Signal status word	Bit 8 (S-0-26[8])	Position marker pulse detected	S-0-408
		Bit 9 (S-0-26[9])	Actual value referenced	S-0-403
11	Signal control word	Bit 9 (S-0-27[9])	Homing enable	S-0-407
		Bit 10 (S-0-27[10])	Position command value referenced	S-0-404
	Signal status word	Bit 9 (S-0-26[9])	Position marker pulse detected	S-0-408
		Bit 10 (S-0-26[10])	Actual value referenced	S-0-403
12	Signal control word	Bit 10 (S-0-27[10])	Homing enable	S-0-407
		Bit 11 (S-0-27[11])	Position command value referenced	S-0-404
	Signal status word	Bit 10 (S-0-26[10])	Position marker pulse detected	S-0-408
		Bit 11 (S-0-26[11])	Actual value referenced	S-0-403
13	Signal control word	Bit 11 (S-0-27[11])	Homing enable	S-0-407
		Bit 12 (S-0-27[1]2)	Position command value referenced	S-0-404
	Signal status word	Bit 11 (S-0-26[11])	Position marker pulse detected	S-0-408
		Bit 12 (S-0-26[1]2)	Actual value referenced	S-0-403
14	Signal control word	Bit 12 (S-0-27[12])	Homing enable	S-0-407
		Bit 13 (S-0-27[13])	Position command value referenced	S-0-404
	Signal status word	Bit 12 (S-0-26[12])	Position marker pulse detected	S-0-408
		Bit 13 (S-0-26[13])	Actual value referenced	S-0-403
15	Signal control word	Bit 13 (S-0-27[13])	Homing enable	S-0-407
		Bit 14 (S-0-27[1]4)	Position command value referenced	S-0-404
	Signal status word	Bit 13 (S-0-26[13])	Position marker pulse detected	S-0-408
		Bit 14 (S-0-26[14])	Actual value referenced	S-0-403
16	Signal control word	Bit 14 (S-0-27[14])	Homing enable	S-0-407
		Bit 15 (S-0-27[15])	Position command value referenced	S-0-404
	Signal status word	Bit 14 (S-0-26[14])	Position marker pulse detected	S-0-408
		Bit 15 (S-0-26[15])	Actual value referenced	S-0-403

P-AXIS-00388	Encoder, used for CNC controlled homing (SERCOS)
Description	Some drive types support the use of multiple encoders (motor encoder and external encoder). This parameter defines which encoder is used for homing.
Parameter	antr.cnc_homing_encoder
Data type	SGN16
Data range	0: Value is not configured. If P-AXIS-00386 is set to 1, set this parameter to a valid value (0, 1, 2). 1: The encoder used for homing is determined automatically, e.g. for SERCOS drives, by reading drive parameter S-0-147. 2: Motor encoder 3: External encoder
Axis types	T, R, S
Dimension	T: ----	R,S: ----
Default value	0
drive types.	SERCOS
Remarks	At the moment this parameter is supported only for SERCOS. With SERCOS drives, if the encoder set in S-0-147 does not fit to the value set in P-AXIS-00388, the error message error message P-ERR-70453 is output. This value is only effective when P-AXIS-00386 has the value 1.

P-AXIS-00412	Maximum distance during homing
Description	This parameter defines a maximum distance for homing for spindles and rotary axes. If the maximum permissible homing distance is exceeded, homing is aborted and error message P-ERR-70394 is output. It achieves that homing is aborted if, for example, the reference cam is not found due to a wiring error. This parameter works only for spindles and rotary axes, see P-AXIS-00018. If this parameter is set for linear axes to a value unequal to zero, the error message P-ERR-110545 is output and the parameter is corrected to 0. A value of 0 disables distance monitoring during homing.
Parameter	kenngr.distc.a_max
Data type	UNS32
Data range	0 ≤ homing_max_movement_dist ≤ MAX(UNS32)
Axis types	R, S
Dimension		R,S: 0.0001 °
Default value	0
drive types.	----
Remarks	This parameter has to be set to a value which is at least equal to the modulo range of the axis in order to complete homing successfully.

P-AXIS-00425	Bit number of signal 'Drive is referenced' during reference monitoring
Description	In this parameter enter the number of the bit which is used for transmission of the signal 'Drive is referenced' from the drive to the controller during active reference monitoring. The least significant bit has bit number 0. The maximum value depends on the length of the configured telegram element which is used for transmission.
	Length of telegram element	Max. bit number
	-1	No reference monitoring
	2	15
	4	31
	Setting the parameter to an invalid bit number leads to the output of error message P-ERR-110549.
Parameter	antr.reference_check.bit_nr
Data type	SGN16
Data range	0 ≤ bit_nr ≤ Max. bit number
Axis types	T, R, S
Dimension	T: ----	R,S: ----
Default value	-1
drive types.	SERCOS
Remarks	This parameter is supported for SERCOS drive types only.

P-AXIS-00426	Element name of signal 'Drive is referenced' during reference monitoring
Description	In this parameter enter the name of the element of the cyclic input process data which is used for transmission of the signal 'Drive is referenced' from the drive. When the set-up value of P-AXIS-00426 is not found within the cyclic process, the error message P-ERR-70401 is output.
Parameter	antr.reference_check.element_name
Data type	STRING
Data range	<Empty string>: Reference monitoring is disabled S-0-0135: When the SERCOS state word is used for transmission of the reference signal, the parameter has to be set to 'S-0-0135'… <Telegram_element_Name>: ...or, alternatively, the name of a telegram element configured in the cyclic process data.
Axis types	T, R, S
Dimension	T: ----	R,S: ----
Default value	*
Drive types	SERCOS
Remarks	* Note: The default value of variables is a blank string. Reference monitoring is activated by assigning a value to this parameter. When reference monitoring is activated, the parameter P-AXIS-00425 must also be assigned a valid value. At the moment, this parameter is supported for drive type SERCOS only. Changing this parameter by a list update is not possible (P-ERR-110550).

P-AXIS-00494	Delayed activation of zero pulse logic
Description	For CNC-controlled homing (see P-AXIS-00299) the parameter delays the activation of the zero pulse logic after the actuation of the reference switch. This can be useful if the reference cam and the zero pulse are situated closely together and the detection of the zero pulse is therefore not reliably possible. In this case the next or the next but one zero pulse after the reference cam could be detected depending on the actuation speed of the reference cam.
Parameter	kenngr.shift_offset_zero_pulse_activation
Data type	UNS32
Data range	0 ≤ shift_offset_zero_pulse_activation ≤ MAX_UNS32
Axis types	T, R, S
Dimension	T: 0.1 µm	R,S: 0.0001 °
Default value	0
drive types.	Conventional, SERCOS, Terminal, Lightbus, Profidrive, CANopen
Remarks