Reference travel

Parameter designation

Description

Reference travel

Reference travel type

INFORMATION: When selecting the reference travel types with limit switches, ensure that the limit switch evaluation configured in the configuration menu Limit switches is activated.

  • Disabled
  • Reference cam – negative end
  • Reference cam – positive end
  • Positive limit switch
  • Negative limit switch
  • Referencing without reference travel
  • 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
  • Member 1/DI 01
  • Software input 1
  • To use "Software input 1", the reference cam must be connected via the ProfileGeneration.Homing.In.xReferenceCam input variable. However, this is only possible if the fieldbus interface is not used.

Index: 50007.31

IEC name: –

Reference offset per member

Activate specification of an individual reference offset for each axis group member. The following requirements must be met to use the parameter:

  • Homing is activated.
  • Homing is performed without skew compensation.
  • Home position is outside all limit switches.
  • The skew error window is larger than the difference between all reference offsets.

Index: 50010.52

IEC name: –

Reference offset
Members 1-4

INFORMATION: Only visible if "Reference offset per member" is activated.

Setting the reference offset for the respective axis group member (in user units).

Index: 50010.53-56

IEC name: –

Reference offset

Setting the reference offset for the entire axis group (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

INFORMATION: Only visible if a reference travel type with travel is selected.

Search speed of reference travel (in user units)

Index: 50007.4

IEC name: ProfileGeneration.Homing.Config.lrSearchVelocity

Retraction speed

INFORMATION: Only visible if a reference travel type with travel is selected.

Retraction speed of reference travel (in user units)

Index: 50007.5

IEC name: ProfileGeneration.Homing.Config.lrClearVelocity

Acceleration

INFORMATION: Only visible if a reference travel type with travel is selected.

Acceleration of reference travel (in user units)

Index: 50007.6

IEC name: ProfileGeneration.Homing.Config.lrAcceleration

Deceleration

INFORMATION: Only visible if a reference travel type with travel is selected.

Deceleration of reference travel (in user units)

Index: 50007.7

IEC name: ProfileGeneration.Homing.Config.lrDeceleration

Jerk

INFORMATION: Only visible if a reference travel type with travel is selected.

Jerk of reference travel (in user units)

Index: 50007.8

IEC name: ProfileGeneration.Homing.Config.lrJerk

Advanced settings

Go to home position

Activates or deactivates homing

Index: 50007.9

IEC name: ProfileGeneration.Homing.Config.xMoveToStartPosition

Home position with skew compensation

INFORMATION: Visible only if "Go to home position" is activated.

If a reference offset for each member as well as a reference travel type based on limit switches is used, homing must be performed without skew compensation. Otherwise, the compensation movement after reaching the hardware limit switch could trigger the switch again.

Index: 50010.51

IEC name: –

Home position

INFORMATION: Visible only if "Go to home position" is activated.

Position that is automatically moved to after referencing (in user units)

Index: 50007.10

IEC name: ProfileGeneration.Homing.Config.lrStartPosition

Homing speed

INFORMATION: Visible only if "Go to home position" is activated.

Speed for moving to the home position after referencing (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 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" set as the encoder source, this is an AND operation of all axis group members taken into account. With "External encoder" or "Motor encoder and external encoder" set as the encoder source, this is an AND operation of all external encoders taken into account. With "EtherCAT encoder" set as the encoder source, this is the referenced signal of the MOVIKIT® EncoderInterface.
  • 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 to non-volatile memory

INFORMATION: Only visible in expert mode.

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 in the reference travel types "Positive limit switch" and "Negative limit switch".

  • Not active
  • Active

When readjustment is active, after a HW limit switch has been hit, the limit switches of the other members are also hit until all limit switches have been hit.

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.usiLSNegativeAGMember1-4/usiLSPositiveAGMember1-4