13.3 Homing
When the drive is started, a defined starting position must be specified for absolute
positioning modes. In a homing operation, the point of reference of the positioning
operation is determined. All positioning data relates to this point of reference. Once
the homing operation is started, the drive moves until it reaches a home switch or
limit switch and stops there. The limit switches limit the motion path. The direction
of movement (search direction) at the start of the homing operation is defined by
the
homing mode. Additional the reaching of a limit switch will change the direction
of the drive (dependent on the homing mode). The limit switches can also be used
as the point of reference.
Relative positioning and velocity operations are possible without homing.
− via a digital input
− by a control word via system bus or field bus
1)
− automatically before the start of a motion block positioning operation
1)
Extension module with system bus or field bus interface required
When using an Absolute Encoder with an Absolute Encoder Module (in example EM-
ABS-01) a Homing after power on is not necessary. This is defined by parameter
Further details of the Homing functions are described in the application manual “Posi-
tioning”.
13.3.1 Start position after homing
After homing Referenzfahrt:
P. 1185 = -1 Drive remains in “coast to stop“ position
P. 1185 ≠ -1 Drive is moved actively to set position.
13.3.2 Flying homing
The Flying homing can be used to update the reference position during a running
motion. This function is described in the application manual “Positioning”.
13.4 Position Controller
The position controller evaluates the positioning operation (target/actual position)
and tries to control the drive such that it comes as close as possible to the specifica-
Further details of the Position controller are explained in chapter 0 “
0x5F17/n Position Controller” with a description of Object 0x5F17.
160 CM-CAN ACU 04/13
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