Reference

Type

Access rights: Profi
Description: Enter here the referencing method to be used (When using encoders with the index track, please observe instructions in chapter (Pos Type).).

• Switch Intern Left (0x00) / Right (0x01)
  The internal reference switches are used for referencing. If the reference switch is activated, the direction of movement is determined as ,,left'' or ,,right''.

• Switch Extern IN0 Left (0x02) / Right (0x03)
  A external referencing switch can used for referencing. This must be connect to the digital input IN0. The moving direction when switch is high can be select with ,,left'' or ,,right''.

• Velocity Left (0x04) / Right (0x05)
  A velocity movement is completed for referencing purposes. The system detects whether the module moves against a fixed stop. This is the reference point. The direction of rotation is defined as ,,left'' or ,,right''.
  

  This referencing method is only recommended for systems with a fixed stop!

  
  
  

• Velocity Distance Left (0x06) / Right (0x07)
  In addition to the above referencing procedure, the module moves from the first reached stop to the fixed stop at the opposite side. The traveled distance must be greater than the difference between the software limits => referencing successful.
  

  This referencing method is only recommended for systems with a fixed stop!

  
  
  

• Current Left (0x08) / Right (0x09)
  A current movement is completed. The current is increased until the module is set in motion. If the current exceeds the maximal referencing current, the system assumes that a fixed stop has been reached. This is the reference point.
  

  This referencing method is only recommended for systems with a fixed stop!

  
  
  

  Jamming, stiffness of mechanical parts or workpieces that are left in the path can also cause the current to exceed the rated current level. In such cases the machine assumes that a fixed stop has been reached, even if no such stop is installed.

  
  
  

• Current Distance Left (0x0A) / Right (0x0B)
  In addition to the above referencing procedure, the module moves from the first reached stop to the fixed stop at the opposite side. The traveled distance must be greater than the difference between the software limits => referencing successful.
  

  This referencing method is only recommended for systems with a fixed stop!

  
  
  

• None (0x0C)
  After the CMD REFERENCE command is sent, the current position is interpreted as the reference position.

• Manual (0x0D)
  With the command CMD REFERENCE a ,,simulated'' referncing move will be executed, when the module is referenced already. The module is moving to the referencing mark and then, depending on the setting, to the positon ,,0''.
  If the module is not referenced already, a manual referencing will be started.

After a successful execution of the manual referencing, the referencing type is set to ,,Manual''.

Daten: (UInt16) 0 .. 65535

Max. Reference Current

Zugriffsrechte: Profi
Beschreibung: Current as [%] of the nominal current. The reference current stays below this value.
Daten: (UInt8) 0 .. 255

Velocity

Access rights: Profi
Description: Rated velocities for reference movements with internal or external reference switches and for velocity reference movements. This parameter is true for the manual referencing too and means 100% velocity.

If, after referencing, the module is to be moved to position ,,0.0'' the positioning command is executed with the velocity specified here.
Data: (4 bytes) Configured in the preset unit system.

Acceleration

Access rights: Profi
Description: Acceleration values for reference movements with internal or external reference switches, for velocity reference movements and manual referencing. If, after referencing, the module is to be moved to position ,,0.0'' the positioning command is executed with the acceleration specified here.
Data: (4 bytes) Configured in the preset unit system.

Offset

Access rights: Profi
Description: Position offset after successful referencing (zero point adjustment)
Data: (4 bytes) Configured in the preset unit system.

Move Zero After Referencing

Access rights: Profi
Description: After successful referencing, the module is moved to position ,,0.0''. The specified velocity and acceleration are adhered to.
Data: (Bool) TRUE / FALSE

Timeout

Access rights: Profi
Description: Maximum time for the reference movement.
Data: (Float) [s] or [ms], depending on unit system