# Gantry monitoring during drive-controlled homing (P-AXIS-00298)

P-AXIS-00298 | Gantry monitoring during drive-controlled homing
Description | With a gantry configuration, if the gantry distance monitoring before homing is activated (P-AXIS-00249), a gantry error occurs during drive-guided homing (e. g. for SERCOS drives) when the drive sets its actual position to the reference position at the end of the homing cycle. In this case the gantry error occurs near the homing position of either the master or the slave drive.

In order to activate gantry distance monitoring during homing it is possible to suppress this gantry error and trigger a new calculation of the offset between the master and slave axis if a gantry error occurs within a certain range around the reference position. This range of tolerance can be set up with this parameter.

Parameter | getriebe[i].max_reference_position_offset
Data type | SGN32
Data range | 0 … MAX(SGN32)
Axis types | T, R, S
Dimension | T: 0.1 µm | R,S: 0.1 mdeg
Default value | 1000
drive types. | SERCOS, CANopen
Remarks | Using P-AXIS-00298 is only practical for drive-controlled homing with SERCOS or CANopen drives.