Axis Properties

0

0
1

Linear axis
Rotation axis (also note bit 4/5)

1

0
2

Observe end switch
Ignore end switch

2-3

0
4
8
12

Normal axis
Spindle
Measurement axis
Spindle + measurement axis

4-5

6

0
64

Normal axis
Gantry axis; only effective with synchronous axes

7

0
128

Normal axis
Handwheel

8

256

Reference switch is normally open, only for axes with analog interface. The reference switch is set by default to normally closed.

9

512

Modulo 360° synchronous axis, only possible for rotative synchronous axis with power of two pulses for 360°, e.g. 4096.

10

0
1024

Synchronous axis/axis without absolute encoder, i.e. reference point traverse is necessary
Synchronous axis/axis with absolute encoder, i.e. reference point traverse is not necessary (only for CAN-Bus- and EtherCAT-axes)

11

0
2048

Velocity limit monitoring enabled
Velocity limit monitoring disabled (necessary for axes with abrupt in feed)

12

0
4096

Axis is a NC axis if it has an axis letter
Axis is a NC axis even if it has no axis letter

13

8192

For axes with a field bus interface, a system controlled reference point traverse is performed before a servo controlled reference point traverse is performed

Consider the following aspects:

MK Axis Homing Mode must be set to 1. Other types of reference point traverses are not supported.

Determine acceleration and speed of the reference point traverse in the following machine constants: MK Axis Homing Velocity1, MK Axis Homing Velocity2, MK Axis Homing Acceleration1 and MK Axis Homing Acceleration2

Set MK Axis Exact Stop Lag Window and MK Axis Exact Stop Time Window to reasonable values, otherwise the reference point travel becomes inaccurate or the axis may buck at the end of the system controlled reference point traverse.

For Gantry axes, the initial alignment of all involved axes are only performed with means of the reference switches of the master and slave axes. Small corrections can be applied with the synchronous offset which will be performed at the end of the procedure. Therefore MK Axis Synchronous Offset has to be handles with care. Set it to 0 or small values that can be tolerated by the mechanics.

The reference switch has to be connected to the appropriate input of the servo controller. Configure the input in a way, that the active state is displayed as a logical '1' in the input object, irrespective of whether the switch is normally open or closed (for DS402 normally Bit 2 "home switch" in the object 60FDh). Bit 8 in MK Axis Properties / MK Achsenart is not supported to invert reference switch signals for field bus axes.

Set the homing mode (for DS402 usually the object 6098h) to "Homing on the current position" (Homing method 35 in the DS402), if no servo controlled reference point traverse should be performed after the system controlled reference point traverse has been performed.