Siemens SINAMICS G120D Original Instructions Manual page 172

Setting functions
8.6 Basic positioner and position control
Step 3: Travel to reference point
After the converter has detected a zero mark, the axis moves with the "approach velocity
reference point" to the reference point coordinate.
Figure 8-29
After the load has reached the reference point coordinate, the converter sets its position
setpoint and actual value to this value.
Setting the reference point approach
Preconditions
1. You have selected the "Homing" screen.
2. You have come to the settings via the button on the screen.
3. You have selected "Active homing".
Procedure
To set the reference point approach, proceed as follows:
1. You specify the referencing mode:
– Only using the encoder zero mark
– With external zero mark
– With reference cam and encoder zero mark
2. Specify the start direction.
3. Set the approach velocity to the reference cam.
4. Set the approach velocity to the reference point.
5. Set the approach velocity to the zero mark.
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Step 3: Travel to reference point
Converter with control units CU250D-2
Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA