Dependence on the type of referencing method

As already mentioned, different referencing methods are available. A method is selected by a specification in each axis MDS (achsmdsX.lis) by the element kenngr.homing_type. Here, the method is selected by means of a defined string.

Refer to the table below for details of the methods available:

Axis response with referencing type NONE

• If commanding was executed, the value is adopted as reference position for the axis. This value is stored in the element “getriebe[i].pos_refpkt“ in the axis MDS (achsmdsX.lis)
• The behaviour of the axis during commanding depends on the defined drive type. If the drive type DSE is parameterised for the axis (see kenngr.antr_typ), the axis does not move when the FB is commanded. The parameterised reference position is adopted directly and the “Done” output is set to TRUE.
• If the drive type Simulation is parameterised for the axis (see kenngr.antr_typ), the axis moves and adopts the parameterised reference position after a short distance.

Axis behaviour in the case of the referencing type TORQ

• If the drive type DSE is parameterised for the axis, the axis does not move when the FB is commanded.
• If the referencing type TORQ Is used, further parameters can be assigned values in the axis MDS (achsmdsX.lis). There are general parameters that refer to the referencing operation as such. In the axis list, they are indicated by the prefix kenngr.homing.