Basic functions
4.2 Homing
Connection of the SINAMICS S120 to the Technology CPU
Product Information, 09/2011, A5E00480378-04
105
Direct homing
The axis position will be set without taking account of the reference cam (encoder zero mark
or reference cam). If the home position is to be exactly assigned to a mechanical position,
the axis must be stationary during the action.
Correct position value
An offset value will be subtracted from the current axis position.
Any current motions and the homing will not be affected.
Correct internal axis coordinate system
An offset value will be subtracted from the current position of the base or the superimposed
coordinate system. Any current motions and the homing will not be affected.
4.2.2 Example: Active homing with homing output cam and encoder zero mark
Introduction
If in the complete travel area, the encoder has several zero marks or the passes through the
zero mark several times, a second signal will be used for the unique homing. A homing
output cam supplies this supplementary information. The homing function for the next zero
mark passage will be enabled when the homing output cam is reached.
A typical application case is an axis with a multi-pole resolver motor encoder. Only homing
with home position switches and zero marks should be considered for a multi-pole resolver.
Operational sequence
The axis searches in the specified direction for the reference point. When the BERO signal is
attained, a switch will be made from the home position approach velocity to the home
position reduced speed. After leaving the BERO, homing will be made to the next detected
zero mark of the encoder.
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