Reference travel

Parameter name

Description

Reference travel

Reference travel type

 

INFORMATION: When selecting the reference travel types with limit switches, make sure that the limit switch evaluation configured in the configuration menu Hardware limit switches is used.

  • Deactivated
  • Reference cam – negative end
  • Reference cam – positive end
  • Positive limit switch
  • Negative limit switch
  • Referencing without reference travel (with enable)
  • Reference cam flush – positive limit switch
  • Reference cam flush – negative limit switch
  • Absolute position of encoder

Index: 50007.1

IEC name: ProfileGeneration.Homing.Config.eReferenceTravelType

Source of reference cam for axis group member 1

 

INFORMATION: Only visible for reference travel types "Reference cam – negative end", "Reference cam – positive end", "Reference cam flush – limit switch positive" and "Reference cam flush – limit switch negative".

  • No reference cam
  • Axis group member 1/DI 01
  • Software input 1
  • INFORMATION: To use "Software input 1", the reference cam must be connected via the ProfileGeneration.Homing.In.xReferenceCam input variable.

Index: 50007.31

IEC name: –

Reference offset

Setting the reference offset (in user units). Is required, for example, when the cam is not located at machine zero.

Index: 50007.2

IEC name: ProfileGeneration.Homing.Config.lrReferenceOffset

Search speed

Search speed of reference travel (in user units)

Index: 50007.4

IEC name: ProfileGeneration.Homing.Config.lrSearchVelocity

Retraction speed

Retraction speed of reference travel (in user units)

Index: 50007.5

IEC name: ProfileGeneration.Homing.Config.lrClearVelocity

Acceleration

Acceleration of reference travel (in user units)

Index: 50007.6

IEC name: ProfileGeneration.Homing.Config.lrAcceleration

Deceleration

Deceleration of reference travel (in user units)

Index: 50007.7

IEC name: ProfileGeneration.Homing.Config.lrDeceleration

Advanced settings

Go to home position

Activates or deactivates homing

Index: 50007.9

IEC name: ProfileGeneration.Homing.Config.xMoveToStartPosition

Home position

Position that is approached automatically after referencing (in user units)

Index: 50007.10

IEC name: ProfileGeneration.Homing.Config.lrStartPosition

Homing speed

Speed for approaching the home position after referencing (in user units)

Index: 50007.11

IEC name: ProfileGeneration.Homing.Config.lrStartPosVelocity

Jerk

Jerk that is effective during referencing and homing (in user units)

Index: 50007.11

IEC name: ProfileGeneration.Homing.Config.lrStartPosVelocity

Encoder referencing

 

INFORMATION: Only visible in expert mode.

  • Yes – When referencing the software module, all the configured encoders are also referenced.
  • No – Perform only one referencing of the profile generator.

Index: 50010.50

IEC name: ProfileGeneration.Homing.Config.HomingAG.xActivateEncoderHoming

Source of the referenced signal

 

INFORMATION: Only visible in expert mode.

Selection of the source of the "referenced" signal:

  • Encoder – The referenced signals of the position-relevant encoders are AND-ed.
  • INFORMATION: Encoders are position-relevant if their position is used for the position control loop. To that end, the configured "Encoder source" is relevant. With "motor encoder" encoder source, this is an AND operation of all axis group members that have been taken into consideration. With "external encoder" or "motor encoder and external encoder" encoder source, this is an AND operation of all external encoders that have been taken into consideration. With "EtherCAT encoder" set as the encoder source , this is the referenced signal of the MOVIKIT® Encoder Interface.
  • Profile generator – The referenced signal (which is saved in a power failure-safe manner) of the profile generator is used. This signal is set by means of access group referencing and is reset if an axis group member is referenced again (FCB 12).
  • Profile generator and encoder – The advantages of both selection options are combined. Both a canceled referencing and a loss of the referencing bit of the encoder/inverter are detected.

Index: 50007.20

IEC name: ProfileGeneration.Homing.Config.HomingAG.eSourceForReferencedSignal

Save referencing in a power failure-safe manner

Selection of the source of the "referenced" signal:

  • Yes – The referenced bit of the profile generator is saved in a power failure-safe manner.
  • No – The referenced bit of the profile generator is lost if the MOVI-C® CONTROLLER is switched off and on again.

Index: 50007.12

IEC name: –

Readjustment

Readjustment

 

INFORMATION: Readjustment is only visible with two axis group members and in the reference travel types "Positive limit switch" and "Negative limit switch".

  • Not active
  • Active

When readjustment is active, the limit switch of the axis group member that has not yet been hit is hit after a HW limit switch has been reached.

Index: 50010.30

IEC name: ProfileGeneration.Homing.Config.HomingAG.Readjustment.xActivate

Monitoring time

 

INFORMATION: Only visible when "readjustment" is active.

Time permitted for readjustment in [s]

If this time period is exceeded, a fault is displayed. To deactivate the function, specify a value of "0".

Default value: 0

Index: 50010.31

IEC name: ProfileGeneration.Homing.Config.HomingAG.Readjustment.lrSafetyTime

Monitoring distance

 

INFORMATION: Only visible when "readjustment" is active.

Distance permitted for readjustment (in user units)

If this distance is exceeded, a fault is displayed. To deactivate the function, specify a value of "0".

Default value: 0

Index: 50010.32

IEC name: ProfileGeneration.Homing.Config.HomingAG.Readjustment.lrSafetyDistance

Selection of HW limit switches for readjusting axis group members

Select which of the positive and negative limit switches is to apply for readjustment of the respective axis group members.

Index: 50010.40-43

IEC name: ProfileGeneration.Homing.Config.HomingAG.Readjustment.usiLSNegativeAGMember1-2/usiLSPositiveAGMember1-2