Homing (referencing)

This state makes it possible to set or automatically search for the home position.

  • In the "Homing" status, the following actions are carried out:
    • Creation of the motion profile for the "Homing" function (reference search).
    • Evaluation of the traversing range limit switches and of the homing and touch probe switch touch probe sources during the reference search.
    • If eHomeStopMode <> 0:
      positioning to lrTargetPosition after completion of the homing process.
Note!
  • The reference run is performed in the control system independent of the drive.
  • With the 9400 Servo Drive it is also possible to perform the reference run directly in the drive. To do this, reference mode 100 ("DriveBased") must be selected and the reference mode of the drive must be parameterized in subindex 83 .
  • Positioning to the lrTargetPosition cannot be triggered from the FB-visualisation.
Inputs for this operating mode

Name

Data type

Information/possible settings

xHomeExecute

BOOL

FALSE รค TRUE

Start homing.

  • Cancelling of the function via xStop input.

lrHomePosition

LREAL

Home position to which the measuring system is set when the sensor reference signal (e.g. touch probe sensor) is detected.

xUseHomeExtParameter

BOOL

Selection of the homing parameters to be used

Homing parameters

FALSE

The homing parameters defined in the axis data are used.

TRUE

The homing parameters defined via the scHomeParameter input are used.

scHomeExtParameter

L_MC1P_HomeParameter

Transfer of the homing parameters from the application

  • Only relevant when xUseHomeExtParameter = TRUE.

scHomeExtTP

MC_TRIGGER_REF

Transfer of an external touch probe event

xHomeAbsSwitch

BOOL

Reference switch connection

  • For the homing modes with homing switch, this control input must be connected to the digital input to which the homing switch is connected.
Outputs for this operating mode

Name

Data type

Value/meaning

xIsHomed

BOOL

TRUE

The axis has been referenced ("Reference known").