Trumpf BendMaster 150, Operator'S Manual

Page: 133 / 258

3.2 Referencing the BendMaster
If the BendMaster moves to the safe home position before
switching off with the "Robot in home position" travel function,
the axes do not have to be referenced again after being switch-
ing on again
(see "Executing travel functions", pg. 4
‐
48) .
The regripping station always has to be referenced.
If the BendMaster is not in the safe home position after switch-
ing off, the "Robot in zero position" travel function must be used
to manually move the "BendMaster to the reference position
after switching on and then referenced.
■ "NRef" in the header of the speed window.
■ "!" status of the drive unknown, e.g. after restarting the con-
trol.
■ "N" drive not referenced.
1 Indication in the header in the
speed window if the BendMas-
ter has not been referenced
2 Indication of the axis values in
the displayed AUX coordinate
system under "POSITION"
3 Indication of the axis values in
the displayed JOINTS coordi-
nate system under "POSITION"
Fig. 54368
Note
Only the JOINTS movement type is possible if one of the axes
has not been referenced. Travel functions and program
execution are no longer possible.
B579EN
2015-06-01 Switching on and referencing the BendMaster
4
‐
39
Display in the event of
unreferenced axes