Homing parameters

Danger!

During homing, specifically assigned profile parameters are effective (see following tables). If they are not set correctly, the drive may carry out unexpected movement!

Option 1: Using homing parameters of the axis data

When the UseExtParameter input is set to FALSE, the parameters of the axis data are used for homing. These are defined on the generic LenzeMotionDrive configuration tab in the "Homing" category. See the chapter "Motion axes (AXIS_REF)" "Functions and parameterising" Homing ".

Option 2: Defining homing parameters from the application

The homing parameters can also be defined from the application. For this purpose, the UseExtParameter input has to be set to TRUE. In this case, the FB uses the parameters that are transferred to the FB via the ExtParameter input the form of the L_MC1P_HomeParameter structure:

Name	Data type	Initial value		Info
Value	Unit
eHomeMode	INT	SetPositionDirect		Referencing mode
	Possible settings:
	0	SetPositionDirect		Homing mode (HomeMode)
	1	CcwLimitSwitchCwTP
	2	CwLimitSwitchCcwTP
	3	CwRpCcwRnTP
	5	CcwRpCwRnTP
	17	CcwLimitSwitch
	18	CwLimitSwitch
	19	CwRpCcwRn
	21	CcwRpCwRn
	33	CcwTP
	34	CwTP
	97	SetPositionInAnyState
	98	SetOffsetInAnyState
	99	ResetHomeInfo
	-2	CwTorqueLimit
	-1	CcwTorqueLimit
	100	DriveBased
eHomeStopMode	INT	Stop,		Response after detection of the home position Note : The eHomeStopMode parameter is ineffective if eHomeMode =Â 0 ("SetPositionDirect")
	Possible settings:
	0	Stop,		Stop drive
	1	RelativePositioning		Relative positioning around target position
	2	AbsolutePositioning		Absolute positioning to target position
eStopModeDirection	MC_ Direction	mcCurrentDirection		Direction specification for approaching an absolute target position in the modulo measurement system.
	Note : Determination of the target position from the given direction, is based on the theoretical standstill position after detection of the reference event. Setting options:
	0	mcCurrentDirection		It is positioned absolutely on the target position in the currently active bar.
	1	mcPositiveDirection		The target position is approached in positive direction.
	2	mcNegativeDirection		he target position is approached in negative direction.
	3	mcShortestWay		The target position is approached by the shortest route.
lrTargetPosition	LREAL	0.0000	Unit	Distance or absolute position
lrVelocity1	LREAL	360.0	Unit/s	Velocity of profile data set 1
lrVelocity2	LREAL	0.0	Unit/s	Velocity of profile data set 2
lrAcceleration1	LREAL	720.0	Unit/s ²	Acceleration of profile data set 1
lrAcceleration2	LREAL	360.0	Unit/s ²	Acceleration of profile data set 2
lrJerk	LREAL	7200.0	Unit/s ³	Jerk (for both profile data sets)
rTorqueLimit	REAL	0.1	Nm	Torque limit relating to the drive
rTorqueTime	REAL	1.000	s	Torque blocking time
dwTPConfig	DWORD	TP1_PosEdge		Touch probe configuration
	Possible settings:
	0	ExternalSource		External source ( ExtP: MC_TRIGGER_REF)
	1	TP1_PosEdge		Channel 1 / positive edge
	2	TP1_NegEdge		Channel 1 / negative edge
	3	TP1_AnyEdge		Channel 1 / positive or negative edge
	4	TP1_ZeroPulse		Channel 1 / zero pulse
	11	TP2_PosEdge		Channel 2 / positive edge
	12	TP2_NegEdge		Channel 2 / negative edge
	13	TP2_AnyEdge		Channel 2 / positive or negative edge
	14	TP2_ZeroPulse		Channel 2 / zero pulse
wDriveHomeMode	WORD	100		Homing mode of the drive (only for 9400 HighLine CiA402). Only effective with eHomeMode = 100.
IrOffSetPosition	LREAL	0	Unit	When using the HomeMode (subindex 70 = "98: SetOffsetInAnyState") the actual position is shifted by this value.