Reference point travel without reversing
In the case of RPT without reversing, acceleration to the P-AXIS-00218 (vb_reflow) speed from the axis parameter list takes place at standstill of the spindle. The spindle is not accelerated at the current limit, but with the standard ramps. The direction of rotation is initialised with the RPT direction P-AXIS-00158 (ref_richt). On initialization of the spindle's machine parameters, a check is already made to determine whether a preferred direction is specified for the spindle. An error message is issued if this does not agree with the specified RPT direction.
If the spindle has to perform RPT out of endless rotation, acceleration deceleration to the RPT speed "vb_reflow" first takes place before referencing. The direction for referencing corresponds to that of endless rotation.
Orientation of the spindle at the programmed speed and at rapid traversing speed takes place after RPT and without stopping of motion. Homing on the fly takes place. Positioning takes place in the direction in which RPT took place, even if it does not agree with the specified direction of rotation.
Homing without reversing of the spindle can always take place in two ways. The method is defined by the value (TRUE/FALSE) of the axis parameter variable P-AXIS-00156 (ref_ohne_nocken).
ref_ohne_nocken | 0 Reading in the cam and zero pulse Both the reference point cam and the zero pulse are used for triggering. In the case of the reference point cam, triggering takes place at the 'not actuated actuated' edge change. If the cam is currently actuated, the spindle is rotated until the cam is not actuated. |
ref_ohne_nocken | 1 The zero pulse is used for triggering. This method can be applied if only one zero pulse is issued during each spindle rotation. |
Spindle modes (not SERCOS)
Homing with SERCOS drives
Drive-controlled homing is used for SERCOS drives. This means that the ACHSMODE_KEINE_AUTO_RPF bit must be set in the "achs_mode" parameter in the machine parameters of the spindle to prevent automatic referencing. The "ref_ohne_rev" and "ref_ohne_nocken" parameters are then no longer evaluated.
 | In the case of a spindle with a SERCOS drive, homing must have been explicitly completed before orientation (via the automatic program or a manual block) as otherwise an error message will be issued. |
Spindle modes in the case of SERCOS
