Data Reference Motor Encoder - Bosch Rexroth CKL Series Commissioning

14 Data Reference Motor Encoder

14.1 Configure data reference motor encoder
14.1.1 Steps for configuring data reference motor encoder:
1. In the Explorer tree, select Data Reference Motor Encoder
2. Select Reference travel direction and Evaluation method, enter Reference distance and
Homing motion profile. If none of the Evaluation methods are selected, please see warning
at bottom of this page. For possible motion type homing Evaluation method combinations,
please see following:
Recommended:
• Reference mark with limit switch: move to limit switch then reverse move to reference mark.
• Home switch with limit switch: move to limit switch then reverse move to home switch.
Possible with caution*:
• Reference mark with positive stop: move to hard-stop then reverse move to reference mark.
• Home switch with positive stop: move to hard-stop then reverse move to home switch.
• Limit switch with positive stop: move to hard-stop then reverse move to limit switch.
• Positive stop only: move to hard-stop then reverse move to reference point offset value.
NOTE: Caution* = when homing with positive stop, it may require reducing application torque/
force limits (see Limit Values page 17) to prevent max exceeded torque/force (over-current)
fault at the positive (hard) stop. For execution of the homing command, advise using ≤100%
torque/force limit value. After successful completion of homing, the torque/force limits can be
increased to the application requirements.
WARNING!
If none of the Evaluation methods are selected, the axis references with motion-
less homing. After execution of the homing command, the actual physical position of the axis
is set to the user specified Reference distance in step 2. Therefore, on subsequent homing,
the axis reference may differ depending on where the axis is actually "resting".
Data Reference Motor Encoder
01.2015, USL00010, Bosch Rexroth Corp.
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