Init Parameter

General

Homing Position

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).

Move to Sync Enabled

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 Distance
If 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 Velocity
During 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 Source
During 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).
• HardwareLatch1
Touch probe unit 1 of the drive is being evaluated.
• ZeroImpulseCoE
The encoder's zero pulse is evaluated.
• HardwareLatch1CoEDriveDefined
The input on the drive to be evaluated is configured in the CoE object 0x60D0:01 .
• SoftwareSync
Software-based singleturn zero crossing detection for homing synchronization.

Move to Initial Position Enabled

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.

Detection Thresholds

Torque/Force Threshold

Threshold value for the actual motor torque value. If the torque exceeds this value during evaluation, this serves as an indicator that a hard stop has been detected. The value #Ignore disables this threshold.

Velocity Threshold

Threshold value for the actual axis velocity during evaluation. The power/torque threshold is evaluated only if the actual velocity is below this threshold value. The value #Ignore disables this threshold.

Lag Threshold

Threshold value for the position lag. If the actual position lag exceeds this value during evaluation, this serves as an indicator that a hard stop has been detected. The value #Ignore disables this threshold.

Disabling all thresholds If all thresholds are disabled, the module immediately reports a detected event. In the case of homing, this is instantly recognized as the encoder having reached the end stop. Enter at least a real number for the torque/force threshold or position lag threshold to enable hard stop detection.

Behavior of an accelerating axis with a velocity threshold If, for example, the axis accelerates from a standstill and the touch probe module's evaluation is already active, the axis's velocity may still be below the set threshold value. Depending on the other threshold values, this may cause the touch probe module to report a detected event. In the case of homing, this can be detected as reaching the end stop. If necessary, start an axis movement before activating the touch probe unit.