Introduction
WARNING
If the reference position or the position of the reference cam is incorrectly configured and in case of direct referencing, the safety sub-functions that use the absolute position can fail.
Severe or fatal injuries.
- Ensure that the absolute position matches the system position after the referencing.
By referencing an encoder, the zero point of the user absolute position can be defined in a way that it can be linked with machine zero.
Once all of the encoders that are involved in the process value calculation have been safely referenced, the "absolute position" process value, which affects the SLP, SCA, and safe position (SP) safety sub-functions, can be created.
The referencing data set is on the safety key. It is used to create the location reference for the referencing via the safety key. As a safeguard, the referencing data set is also in the non-volatile memory of the safety option.
In the following cases, the referencing of encoders is reset with purely incremental evaluation:
- In case of a system error
- When restoring or downloading the parameterization
- Acknowledgment via CIP Safety™
INFORMATION
If the encoder system has been reconfigured and one of the encoders involved in the position formation has been changed, then this encoder must be referenced again. This is also the case if the safety option continues to report "referenced".
For safe referencing, 3 referencing types are available for encoders:
- Referencing via parameters
- Direct referencing
- Reference travel to cams
The position must be within the position limits after referencing.
