If an incremental encoder is being used, a forced reference point can be set with the RP_HERE command.
The RP_HERE (%Qr.m.c.6) forces a reference point without movement to the value set in the PARAM parameter. This value is entered either in the %QDr.m.c.2 double word or in the debugging window for the TSX CAY module.
The forced reference point command references the axis without generating a movement.
NOTE: The RP_HERE command does not modify the value of the RP_POS parameter.
The value of the PARAM parameter must be between the soft stops.
All blocking faults are tolerated while this command is being carried out (except for an encoder break fault).
