Referencing

CNC-controlled

All gantry axes are reference sequentially if homing travel is performed by the CNC. That is to say that the reference point logic is always run through for one axis and the other axes in the gantry combination are also interpolated uniformly. This is then repeated for the next axis in the gantry combination until all gantry axes have been referenced.

Drive-controlled

Intelligent drives (such as SERCOS) perform homing travel independently. In a gantry system, there must also be a guarantee here that the gantry combination always moves uniformly. That is to say that

  1. the parameter definitions must ensure that the drive covers an identical distance during homing travel.
  2. homing travel is started simultaneously for all gantry axes.

This behaviour is set by the P-AXIS-00253 parameter.

Referencing 1:

Drive-controlled homing travel must run identically in the case of both drives (e.g. without cam and distance-coded measurement system). This must be ensured by means of appropriate drive parameter definition.

Only at the master end

Homing travel for gantry slave axes can be suppressed with the P-AXIS-00074 (gantry_slave_no_homing) parameter. After homing travel of the master axis, the reference positions entered in the axis parameter list of the slave axes are stored and monitoring of the gantry difference between the master and slave axes is started.

Monitoring before referencing

With the P-AXIS-00249 (gantry_diff_check_without_homing) parameter, it is possible to activate monitoring of the gantry difference between the master and slave axes even before homing travel.

The offset between the master and slave axes at the time when the control system starts up is used as the position offset.