Flying homing for spindle axes
Description
The parameters P-AXIS-00157 (ref_ohne_rev) and P-AXIS-00156 (ref_ohne_ nocken) are used to define the homing strategy.
- "ref_ohne_rev" defines whether the axis should have a cam clearance.
- "ref_ohne_nocken" defines whether only the zero pulse signal is evaluated for homing or whether the cam signal is also evaluated.
Conventional homing is executed if both "ref_ohne_rev" and "ref_ohne_nocken” are set to FALSE.
The combination of setting "ref_ohne_rev" to FALSE and "ref_ohne_nocken" to TRUE is impractical since cam signal evaluation is required for cam clearance.
The variable "ref_ohne_rev” must be set to TRUE to execute flying homing from endless rotation without reversal. The table below shows the settings for the various RFP (homing) types.
ref_ohne_rev = FALSE | ref_ohne_rev = TRUE |
|
ref_ohne_nocken = FALSE | conventional homing | flying homing with cam |
ref_ohne_nocken = TRUE | impermissible setting | flying homing without cam |
With conventional axes and simulation axes, the position controller is enabled automatically for homing if homing was previously disabled.
A specific homing position exists for each gear speed and this is specified in the axis machine record.
In general, the CNC automatically executes homing before setting up the spindle axis (M19, move to gear change position or axis position) if the reference point is not valid (any more). For example, if the maximum encoder frequency is exceeded by a speed that is too high. However, from endless rotation this can only be executed if the parameter “ref_ohne_rev” is set to TRUE. Otherwise, an error message is output and a transition takes place to error state.
Notice
When SERCOS drives are referenced drive-controlled, the automatic RPF mechanism must be suppressed. In this case, set the ACHSMODE_KEINE_AUTO_RPF bit to axis mode (P-AXIS-00015) in the axis machine record.