Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS, Functional Description

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ECODRIVE03-FL*-04VRS Writing the User Program
6-61
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
SRM - Search for Registration Mark
or
Input Bit Reference Mark (Input:Probe1 when 00.00.0 is input)
M0...M5 , I0...I4, Q0...Q2
Feedrate in ‰ (001 to 999) of the maximum velocity in the assigned
parameter (A106)
Search Direction (The operational sign of the variable helps determine the
direction)
Offset in IU
Axis 1
This command can be used to search for a reference marker at any time.
The axes, the search direction, the search velocity and the reference
signal input can be selected by the user. Once the command is invoked,
the search for the reference marker proceeds at the preselected velocity.
The reference marker is detected by means of the rising edge of a pulse
(from 0V to 24V) at the programmed input.
As soon as the reference marker is detected, the program proceeds to
the next instruction. (The command did not wait for the offset to be
executed.)
If a value of 00.00.0 is programmed for the reference marker input, then
that input (Probe 1, Connector X3 / Pin 4) is selected as the reference
marker input. Via this input, the reference mark position is determined,
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Offset Dimension:
The move to an offset dimension (referenced to the reference mark
position) is accomplished immediately after detection of the reference
point.
It is also possible to limit and monitor the search travel until the reference
marker is found (see also the 'REP' command).
Note: No new absolute measurement reference (zero point) is
created using the 'SRM' command. This is possible only
through the homing function. (see also Section 8.3).
Detection of the reference marker occurs within a time frame of 2 to 4 ms
(controller cycle time). If a highly accurate reference point is required, the
search velocity must be reduced. The achievable accuracy is determined
as follows:
] [ 2 ] / [ s Time Cycle s IU Velocity Search
∗ ∗
L: IU = Input Units
s = seconds
Fig. 6-31: Calculation of the Search Velocity
SRM 1 + V600 +V601 I0.01.0
SRM 1 +123456.123 + 123 I0.01.0