4 Function description
BU 0210 en-3117 27
If an incremental encoder is used for position detection, we recommend that the setting "+ Save position"
(function 2 or 4) is used in parameter P604. Otherwise, the actual values (position, reference point) will be lost
when the control voltage is switched off.
The reference point run can be cancelled by removing the "Enable" signal or by "Emergency Stop" or
"Block Voltage". This does not produce an error message.
For referencing with the function "Reference point run" the position control, i.e. the current positioning
mode is interrupted.
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4.2.1.2 Residual position
As an alternative to a reference point run, one of the digital inputs (P420…) or one of the bus IO In bits
(P480…) can be set to setting 61 ("Reset Position"). In contrast to the function Reference point, the
input r the bus IO In bit is always effective and sets the actual position to 0 immediately when the
signal changes from 0 → 1. If an offset has been parameterised in parameter P609 the axis is moved
by this value.
Resetting of the position is carried out independently from the setting of the "Positioning" in parameter
P600. If relative positioning (Function 1) is selected in parameter P610 the set position is
simultaneously set to the value 0.
Referencing with the function "Reset Position" can be carried out while the position control is active,
i.e. during the current positioning mode.
Operation of an IE4 motor
The following should be noted if a CANopen combined encoder (absolute and incremental encoder) is used for
detection of the rotor position for operation of an IE4 motor, and the absolute encoder is also used for positioning.
The function "Reset Position" resets the position and also resets the zero position for the rotor position detection.
As a result of this, detection of the initial rotor position is no longer possible.
Referencing via the function "Reset Position" depends on the tolerance of the reference point switch and the
speed with which the switch is approached. Therefore the repetitive accuracy is somewhat less with this form of
referencing in comparison with the function "Reference point run", however it is sufficient for most applications.
A prerequisite for control via Bus IO bits is that the function 20 is assigned to a bus setpoint (P546…).
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