# Transfer reference position for drive-controlled homing to the drive (P-AXIS-00584)

P-AXIS-00584 | Transfer reference position for drive-controlled homing to the drive
Description | When the parameter is set, the reference position saved in axis parameter P-AXIS-00152 is transferred to the drive before the start of drive-controlled homing. The sequence is as follows:

1. Read reference position saved in drive.
2. If the reference position read in and P-AXIS-00152 are not identical, P-AXIS-00152 is written to the drive, otherwise no action is taken.
3. The reference position is again read from the drive and compared to P-AXIS-00152 .. If the reference position read is different from P-AXIS-00152 , an error message P-ERR-70561 is output.

Parameter | kenngr.write_reference_position_to_drive
Data type | BOOLEAN
Data range | 0/1
Axis types | T, R, S
Dimension | T:---- | R,S:----
Default value | 0
Drive types | SERCOS, CANopen
Remarks | With SERCOS drives, the encoder used for homing is defined by reading SERCOS parameter S-0-0147. When Bit 0x08 is set in S-0-0147, the external encoder is used for homing. Consequently, S-0-0054 is used to write the reference position; otherwise (homing to motor encoder) S-0-0052.

The parameter is available as of Build V3.1.3068.11.