Homing

The zero point in the machine measuring system can be defined by the FB MC_Home , the FB MC_SetPosition or via the corresponding function of the FB L_MC1P_AxisBasicControl .

If the UseAuxHomeParameter input of the FB MC_Home is set to FALSE, the following parameters are used for homing.

Detailed information for homing can be found in the description of the FB MC_Home .

The information that the axis is referenced is provided at the FB MC_ReadAxisInfo and the FB L_MC1P_AxisBasicControl via the xIsHomed output.

The FB L_MC1P_ResetHomePosition serves to reset the "reference known" status.

With the help of modes 97 and 98, the reference can be set to any state of the axis (as when using the FB MC_SetPosition )

Tip!

When using an external position encoder, please observe the notes in the Position controller section.

Homing mode (subindex 70)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder
Homing mode
Selection list (Lenze setting printed in bold)		Info
-2	CwTorqueLimit	Positive direction to torque limit CwTorqueLimit
-1	CcwTorqueLimit	Negative direction to torque limit CcwTorqueLimit
0	SetPositionDirect	Directly set reference Same function as MC_SetPosition without movement of the axis.
1	CcwLimitSwitchCwTP	Negative direction - reversing to limit switch - to touch probe CcwLimitSwitchCwTP
2	CwLimitSwitchCcwTP	Positive direction - reversing to limit switch - to touch probe CwLimitSwitchCcwTP
3	CwRpCcwRnTP	Positive direction - reversing to reference switch - negative edge of reference switch - to touch probe CwRpCcwRnTP
5	CcwRpCwRnTP	Negative direction - reversing to reference switch - negative edge of reference switch - to touch probe CcwRpCwRnTP
17	CcwLimitSwitch	Negative direction to limit switch CcwLimitSwitch
18	CwLimitSwitch	Positive direction to limit switch CwLimitSwitch
19	CwRpCcwRn	Positive direction - reversing to reference switch - to negative edge of reference switch CwRpCcwRn
21	CcwRpCwRn	Negative direction - reversing to reference switch - to negative edge of reference switch CcwRpCwRn
33	CcwTP	Negative direction to touch probe CcwTP
34	CwTP	Positive direction to touch probe CwTP
97	SetPositonInAnyState	Set reference position (subindex 84 ) directly in every state of the axis (also in case of controller inhibit or a movement)
98	SetOffsetInAnyState	Set reference with offset (subindex 86 ) in any state of the axis (even with controller inhibit or a movement).
99	ResetHomeInfo	ResetHomeInfo - ResetHomeInfo - The "Reference known" status is reset. CwTP
100	DriveBased	Use the homing mode of the drive. The homing mode to be used in the drive must be specified in subindex 83 , provided it is supported by the drive. The set homing parameters (homing mode, velocity, accelerations, etc.) are automatically converted into drive units before the start of the homing process and then transferred to the drive via SDO. Note: The general error message "Home_WriteHomeParameter" is generated, if the selected homing mode is not supported by the drive Solution: Use a Referencing mode supported by the inverter (see the documentation of the inverter).
Read access Write access Can only be changed in "Disabled" state No download			SIGNED_16

Action after detect home position (subindex 71)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder
Response after detection of the home position
Selection list (Lenze setting printed in bold)		Info
0	Cancel positioning	Stop axis
1	Relative positioning	Relative positioning by the distance set in the HomeTargetPosition parameter (subindex 72 )
2	Absolute positioning	Absolute positioning to the position set in the HomeTargetPosition parameter (subindex 72 ). The specification of a direction in the modulo dimensional system can be specified via subindex 87 .
Read access Write access Can only be changed in "Disabled" state No download			SIGNED_16

Homing : Target position (subindex 72)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder
Distance for HomeStopMode (subindex 71 ) = "1: RelativePositioning". Absolute position for HomeStopMode (subindex 71 ) = "2: AbsolutePositioning". The specification of a direction in the modulo dimensional system can be specified via subindex 87 .
Setting range (min. value \| unit \| max. value)		Lenze setting
	Unit	0.0 unit
Read access Write access Can only be changed in "Disabled" state No download			FLOAT_64

Homing : Velocity 1 (subindex 73)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder
Velocity of profile data set 1
Setting range (min. value \| unit \| max. value)			Lenze setting
0	Unit/s	2147483647	360.0 unit/s
Read access Write access Can only be changed in "Disabled" state No download				FLOAT_64

Homing : Velocity 2 (subindex 74)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder
Velocity of profile data set 2
Setting range (min. value \| unit \| max. value)			Lenze setting
0	Unit/s	2147483647	0.0 Unit/s
Read access Write access Can only be changed in "Disabled" state No download				FLOAT_64

Homing : Acceleration 1 (subindex 75)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder
Acceleration of profile data set 1
Setting range (min. value \| unit \| max. value)			Lenze setting
0	Unit/s²	2147483647	720.0 unit/s²
Read access Write access Can only be changed in "Disabled" state No download				FLOAT_64

Homing : Acceleration 2 (subindex 76)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder
Acceleration of profile data set 2
Setting range (min. value \| unit \| max. value)			Lenze setting
0	Unit/s²	2147483647	360.0 unit/s²
Read access Write access Can only be changed in "Disabled" state No download				FLOAT_64

Homing : Jerk (subindex 77)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder
Jerk (for both profile data sets)
Setting range (min. value \| unit \| max. value)			Lenze setting
0	Unit/s³	2147483647	7200.0 unit/s³
Read access Write access Can only be changed in "Disabled" state No download				FLOAT_64

Homing : Torque limit (subindex 78)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder
Torque limit
Setting range (min. value \| unit \| max. value)			Lenze setting
0	Nm	2147483647	0.1 Nm
Read access Write access Can only be changed in "Disabled" state No download				FLOAT_32

Homing : Blocking time (subindex 79)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder
Torque blocking time
Setting range (min. value \| unit \| max. value)			Lenze setting
0	s	2147483647	1.0 s
Read access Write access Can only be changed in "Disabled" state No download				FLOAT_32

Homing : TP configuration (subindex 80)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder
Touch probe configuration: 0 = External source (input ExtTP : MC_TRIGGER_REF) 1 = channel 1 / positive edge 2 = channel 1 / negative edge 3 = channel 1 / positive or negative edge 4 = channel 1 / zero pulse 11 = channel 2 / positive edge 12 = channel 2 / negative edge 13 = channel 2 / positive or negative edge 14 = channel 2 / zero pulse
Selection list (Lenze setting printed in bold)
0	External source
1	TP1_PosEdge
2	TP1_NegEdge
3	TP1_AnyEdge
4	TP1_ZeroPulse
11	TP2_PosEdge
12	TP2_NegEdge
13	TP2_AnyEdge
14	TP2_ZeroPulse
Read access Write access Can only be changed in "Disabled" state No download		UNSIGNED_32

Note!

The motor has only one position encoder and therefore only one zero pulse. However, two evaluation channels are available to the user. This means that one channel can be used for homing while the other channel is used for the TP (MC_Touchprobe) at the same time.

Example: If channel 1 (mode 4) is used for the MC_Touchprobe, channel 2 (mode 14) must be selected for the zero pulse when homing.

Ref. pos. after mains switching (subindex 81)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder
Reconstruction of the reference information after mains switching or program download
Selection list (Lenze setting printed in bold)
0	Delete
1	Retain
Read access Write access Can only be changed in "Disabled" state No download		UNSIGNED_8

Note!

For position reconstruction, certain data must be stored in the controller in a power-failure-proof (persistent) manner. Due to the available persistent memory, there is a maximum number of axes.

The maximum number of axes depends on the type of controller used and its hardware:

3221C: 49 axes

3231C: 49 axes

3251C: 49 axes

p500: 130 axes

c300: 130 axes

p300: 130 axes

c520: 130 axes

c550: 130 axes

c750: 130 axes

If the reference information is no longer available when the system is restarted, this may be caused by an encoder error or a defective encoder cable. Please check the logbook entries of the control.

Logbook entry	Cause
PosReconstr.:Data inconsistent	Data not consistent
PosReconstr.:HomePosAvailable not active	Reference not known before mains switching
PosReconstr.:PosReconstr. not activated	Post reconstruction was not active before mains switching
PosReconstr.:Axis was virtual	Axis was virtual before mains switching
PosReconstr.:Orientation Changed	Mounting position different before mains switching
PosReconstr.:TraversingRange Changed	Traversing range different before mains switching
PosReconstr.:CycleLength Changed	Cycle length different before mains switching
PosReconstr.:Unitfactor Changed	Unit factor different before mains switching
PosReconstr.:DataVersion Changed	Internal error retain data
PosReconstr.:No Data Available	Internal error retain data
PosReconstr.:Pos. Outside RestoreTreshold	Difference between current position and the position stored safe against mains failure is greater than the set tolerance.
PosReconstr.:Enc.CRC Changed
PosReconstr.:No FeedbackPos Available
PosReconstr.:MotorRev. Eq. Zero
PosReconstr.:Reset by Feedb. Open circ.	Resolver: Wire breakage error
PosReconstr.:Reset by Enc. Error	Encoder monitoring: Pulse deviation detected
PosReconstr.:Reset by Feedb. Changed	Hiperface absolute value encoder: Home position lost after temporary interruption of 24 V supply
PosReconstr.:No Memory Available	Internal error retain data

Max. rot. ang. aft mns. swtch. (subindex 82)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder
Permissible position difference after mains switching. For generating the reference information, the actual position after mains switching may only differ from the actual value before mains switching by a defined value.
Setting range (min. value \| unit \| max. value)		Lenze setting
	°	0 °
Read access Write access Can only be changed in "Disabled" state No download			FLOAT_64

Homing mode - drive (subindex 83)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder
Homing mode of the drive Only effective with HomeMode (subindex 70 ) = "100: DriveBased" and if supported by the drive. Note: If the selected homing mode is not supported by the drive, the general error message "L_MC1P_Error.Home_WriteHomeParameter" is generated. Remedy: Use a homing mode supported by the drive (see documentation of the inverter).
Setting range (min. value \| unit \| max. value)		Lenze setting
0	100	100
Read access Write access Can only be changed in "Disabled" state No download			UNSIGNED_16

Homing: Reference position (subindex 84)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder
Setting the absolute reference position in [unit] Reference position to which the measuring system is set when the sensor reference signal is acquired (e. g. touch probe sensor). Note: This parameter is currently only considered when using the FB L_MC1P_AxisBasicControlV2.
Setting range (min. value \| unit \| max. value)		Lenze setting
	Unit	0 Unit
Read access Write access Can only be changed in "Disabled" state No download			FLOAT_64

Reference known for absolute encoder (subindex 85)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder
When using a absolute encoder, the reference information can be "permanently set" if the value "1" is selected in the selection list. The actual position is calculated from the encoder position plus the reference offset set in subindex 86 . Note : It must be ensured that the absolute display range of the encoder is not left.
Selection list (Lenze setting printed in bold)		Info
0	Standard behavior	Referencing of the drive is required.
1	set permanently	Referencing of the drive is not required.
Read access Write access Can only be changed in "Disabled" state No download			UNSIGNED_8

Homing: Offset position (mode 98) + sub 85 (subindex 86)

Virtual axis 9400 HighLine Inverter i500 Servo-Inverter i700 Servo-Inverter i950 Encoder
Setting a reference offset in [unit] When referencing with HomeMode, subindex 70 = 98 ("SetOffsetInAnyState"), the actual position is shifted by this value. If the function "Reference known for absolute encoder" (subindex 85 ) is parameterised to the setting "permanently set", this value is also offset against the actual position.
Setting range (min. value \| unit \| max. value)		Lenze setting
	Unit	0 Unit
Read access Write access Can only be changed in "Disabled" state No download			FLOAT_64

Homing: Direction absolute postioning (subindex 87)

Virtual axis 9400 HighLine Inverter i500 Servo-Inverter i700 Servo-Inverter i950 Encoder
Direction specification for moving to an absolute target position (subindex 71 = 2) in the modulo measurement system. Note : The determination of the target position from the given direction is based on the theoretical standstill position after detection of the reference event.
Selection list (Lenze setting printed in bold)		Info
0	Currently direction	It is positioned absolutely on the target position in the currently active bar.
1	Positive direction	The target position is approached in positive direction.
2	Negative direction	The target position is approached in negative direction.
3	Shortest route	The target position is approached by the shortest route.
Lesezugriff Schreibzugriff Änderung nur im Zustand "Disabled" möglich Kein Download			SIGNED_16