Init Parameter

General

Homing Position

Name	Default value	Unit	Type
Homing Position	0.0	[PosUnit]	LREAL

The parameter Homing Position defines the absolute reference position. The axis is set to this position after a successful homing procedure. This parameter has an effect when the value #Default is used for the reference position input in the command to start a homing procedure (e.g., MC_Home).

Sequence

A homing process has several phases. The following parameters can be used to enable and configure individual phases.

Move to Cam Enabled

Name		Default value	Unit	Type
Move to Cam Enabled		FALSE		BOOL
	Move to Cam Distance	10.0	[PosUnit]	LREAL
	Move to Cam Velocity	30.0	[PosUnit]/s	LREAL

Enabling the Move To Cam Enabled parameter (value: TRUE) adds a sequence in the form of an axis movement to the initialization process. The system is searching for a reference signal. The axis continues to move until a corresponding value is detected at the input Signal. The logic of the input depends on the Invert Input parameter.

Move To Cam DistanceIf the expected event is not detected at the Signal input within this distance (measured from the starting position of the homing process), the homing process is aborted. The sign of the value determines the direction of movement of the axis.
Move To Cam VelocityDuring the sequence, the axis moves at no more than the velocity set in this parameter. The value must be set to >0.0.

Move from Cam Enabled

Name		Default value	Unit	Type
Move from Cam Enabled		FALSE		BOOL
	Move from Cam Distance	-10.0	[PosUnit]	LINT
	Move from Cam Velocity	30.0	[PosUnit]/s	LINT

Enabling the Move From Cam Enabled parameter (value: TRUE) adds a sequence in the form of an axis movement to the initialization process. The axis continues to move until the reference signal at the Signal input returns to its inactive state. The logic of the input Signal depends on the Invert Input parameter.

Move From Cam DistanceIf the expected event is not detected at the Signal input within this distance (measured from the starting position of the homing process), the homing process is aborted. The sign of the value determines the direction of movement of the axis.
Move From Cam VelocityDuring the sequence, the axis moves at no more than the velocity set in this parameter. The value must be set to >0.0.

Move to Sync Enabled

Name		Default value	Unit	Type
Move to Sync Enabled		FALSE		BOOL
	Move to Sync Distance	10.0	[PosUnit]	LREAL
	Move to Sync Velocity	30.0	[PosUnit]/s	LREAL
	Move to Sync Source	ZeroImpulseCoE		MC.EHomingSyncSource
	Move to Sync Edge	Positive		MC.ETouchProbeTriggerSource

Enabling the Move To Sync Enabled parameter (value: TRUE) adds a sequence in the form of an axis movement to the initialization process. The axis continues to move until a configured event is detected in touch probe unit 1 of the drive. The touch probe unit can be configured for the homing process using the parameter Move To Sync Source.

Move To Sync DistanceIf the expected event is not detected in touch probe unit 1 within this distance (measured from the starting position of the homing process), the homing process is aborted. The sign of the value determines the direction of movement of the axis
Move To Sync VelocityDuring the sequence, the axis moves at no more than the velocity set in this parameter. The value must be set to >0.0.
The direction of movement is determined by the Move To Sync Distance.
Move To Sync SourceDuring the homing procedure, this parameter affects the configuration of touch probe unit 1. The homing algorithm evaluates the touch probe 1 input of the axis or the subordinate drive object (PDO link).

HardwareLatch1Touch probe unit 1 of the drive is being evaluated.
ZeroImpulseCoEThe encoder's zero pulse is evaluated.
HardwareLatch1CoEDriveDefinedThe input on the drive to be evaluated is configured in the CoE object 0x60D0:01 .
SoftwareSyncSoftware-based singleturn zero crossing detection for homing synchronization.

Move to Initial Position Enabled

Name		Default value	Unit	Type
Move to Initial Position Enabled		FALSE		BOOL
	Move to Initial Position	10.0	[PosUnit]	LREAL
	Move to Initial Position Velocity	30.0	[PosUnit]/s	LREAL

Optionally, a homing process can be completed with a movement to an absolute target position if the parameter Move To Initial Point Enabled is set to TRUE.

Move To Initial Position
After successful homing, a motion command is initiated to the specified absolute target position. If the constant #Default is specified, the Homing Position is used as the position value.
Move To Initial Position Velocity
During the final motion command, the axis moves at no more than the velocity set in this parameter. The value must be set to >0.0.

	View of subordinate objects Depending on the Show Hidden Children setting in the context menu of an overlying parent object, child objects are hidden. Parameters and data areas of the child object are visible in the parent object when this setting is disabled. To display child objects, right-click the parent object (context menu) > and click Show Hidden Children.

The following parameters originate from the nested Touch Probe object.

Binary Touch Probe

Name	Default value	Unit	Type
Input Inverted	FALSE		BOOL

Invert Input

If the value of the Input Inverted parameter is set to TRUE, the MC's internal algorithm inverts the logic of the input Signal for evaluation by the touch probe unit.