The instruction for setting a reference point on the fly on event is as follows:
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Instruction
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Instruction code
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Icon
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Setting a reference point on the fly on event
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21
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The position supplied by the X parameter corresponds to the coordinate to be loaded as the current value when the source is detected.
The direction of movement is defined by the speed sign (the direction defined by the type of source is not taken into account).
The G21 instruction never finishes of its own accord. A STOP command (%Qr.m.c.15) must be sent to terminate this instruction.
According to the type of reference point chosen, the reference point event is detected either during cam input or during cam and Zero Marker inputs, associated with the controlled axis.
The type of reference point and the direction of movement are defined in the configuration.
SMOVE (AXIS_CH0,1,60,21,5000000,200,0) AXIS_CH0 of type T_AXIS_STD
The execution conditions are as follows:
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the encoder must be an incremental encoder,
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the recalibration function is inactive,
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the type of movement uses a G60 instruction code.
