Rexroth Indramat CLM1.4, Manual, Page: 111 / 274

7-14
Functions CLM01.4-LAP-01VRS
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
7.9 Homing
For absolute positioning of the motor with an incremental encoder, it is
necessary to establish an accurate reference point using a positioning
routine (homing).
General Information
Homing is possible in 2 operating modes:
•
Manual Mode - via input signal (see Parameter Ax23)
•
Automatic Mode - via the ’HOM’ command
There are 2 available homing options.
Option 1: Homing to home switch and marker pulse
(Parameter Ax24)
Option 2: Homing to marker pulse (without home switch)
(Parameter Ax24)
The resulting ’homing’ is signaled by turning on the output programmed in
Parameter Ax24.
The output is turned off by:
•
re-homing
•
’Position Lag’ / ’Drive Runaway’ Fault
•
Switching to Parameter Mode
The output can be turned off via the program; the axis remains homed.
For operation in an absolute system with an incremental encoder, all axes
homed by absolute means remain homed during faults and E-Stop
conditions. Detected position(s) remain, so that movements during the
fault can be considered. Re-starting the CLM or exiting and re-entering
Parameter Mode clears the ’homed’ condition.
Note: The ’Drive Runaway’ and ’Position Lag’ Faults always clear the
’homed’ condition.