# NC-controlled homing to fixed stop with DSE drives

In order to use this referencing method, the axis parameter P-AXIS-00299 (kenngr.homing.homing_type) must be parameterised with the value TORQ.

This referencing method is implemented for the following drive interfaces (see P-AXIS-00020):

Value | Meaning
0x0004 | Drive simulation
0x0009 | Generic drive interface

Other general parameters must be assigned values to define how homing is to run with motion to a fixed stop. They are In the axis list, they are indicated by the prefix kenngr.homing. prefix; see table:

## General parameters for referencing to fixed stop

Name | Dimension | Value range | Description
torq_min_distance (P-AXIS-00344) | 0.1 µm | < torq_max_distance | Minimum distance up to detection of the reference position
torq_max_distance (P-AXIS-00345) | 0.1 µm | 0 ... MAX_SGN23 | Maximum distance up to detection of the reference position
torq_homing_dir (P-AXIS-00346) |  | [POSITIVE, NEGATIVE] | Direction of reference point travel
torq_detect_velocity_limit (P-AXIS-00347) | 0.1% | 0 ... 1000 | Speed limit for detection of the reference position
torq_retraction_distance (P-AXIS-00348) | 0.1 µm | MAX_SGN32 | Withdrawal distance after detection of the reference position
torq_homing_position (P-AXIS-00349) | 0.1 µm | MAX_SGN32 | Reference position
torq_detect_time (P-AXIS-00350) | µs | MAX_UNS32 | Minimum time that the limit torque must be exceeded for the reference position to be detected.

The parameters that are dependent on the gear stage are indicated by the prefix getriebe[X].homing. In this case, an ordinal number must be entered for X for each gear stage; see table:

## Gear stage-specific parameters for referencing to fixed stop

Name | Dimension | Value range | Description
torq_move_acceleration (P-AXIS-00334) | mm/s2 | <= a_max | Acceleration
torq_move_velocity (P-AXIS-00333) | µm/s | <= vb_max | Velocity for axis motion
torq_move_torque_limit (P-AXIS-00342) | 0.1% | 0 ... 1000 | Percentage torque limit for motion
torq_detect_torque_limit (P-AXIS-00343) | 0.1% | 0 ... 1000 | Limit for detection of the standing axis. Percentage value referred to torq_move_torque_limit.

The graphic below shows the way in which the parameters listed have an influence on motion to a fixed stop.

Influence of parameters during motion to a fixed stop