# Drive supported execution of the CNC based homing (P-AXIS-00386)

P-AXIS-00386 | Drive supported execution of the CNC based homing (SERCOS)
Description | By default CNC-controlled homing for SERCOS drives is only executed in the controller; the drive-internal positions are not altered. If the drive supports the SERCOS command S-0-146 (CNC-controlled homing), this parameter can enable the command S-0-146 for CNC-controlled homing. The advantage of this method is that, after homing is finished, the drive-internal positions are also referenced so that drive-internal software limit switches can be used, for example.

The reference position used for homing is P-AXIS-00152. This value is transferred to the drive during homing

Parameter | antr.sercos.drive_supports_cnc_homing
Data type | BOOLEAN
Data range | 0/1
Axis types | T, R, S
Dimension | T: ---- | R,S: ----
Default value | 0
drive types. | SERCOS
Remarks | This parameter is currently not supported for spindles. In addition to command S-0-146 the drive must support the following commands:

- S-0-171 (Calculate displacement)
- S-0-172 (Displacement to referenced system)
- S-0-191 (Cancel reference point procedure)

For further information please refer to the drive manufacturer's documentation..