Technical data

Technology objects
CPU 317T: Technology Functions
3-8 A5E00251798-03
3.1.6 Homing
At position-controlled axes, input and indication of the position refer to the
coordinate system of the axis. The coordinate system of the axis must be aligned
to the physical position of the axis mechanism.
For incremental encoders, if you want to establish a direct reference to the position,
you must synchronize the actual value system of the axis after every activation.
Absolute value encoders must be adjusted once only.
Note
Whether motion commands with absolute destination coordinates can only be
executed in homed state is depends on the axis configuration.
Motion commands with relative position setting (MC_MoveRelative) can also be
executed with an axis that is not homed.
Axes retain their homed status when the CPU goes into stop.
Incremental encoders are synchronized by means of the technology function
"MC_Home". This sets
• the homing position coordinate, or
• the homing coordinate minus the homing position offset for active homing
at a defined mechanical position of the axis.
The measurement of this defined mechanical position is triggered by the zero pulse
of the measuring system, or by a proximity switch (BERO.)
Note
After an axis is reinitialized (restart), it must be homed again when an incremental
measuring system is used.