You can take a reference point by using the command SET_RP.

The bit SET_RP (%Qr.m.c.5) takes a manual reference point with movement.

The type and the direction of the reference point are defined at configuration in the Reference point parameter. The value of the source is defined in the adjustment screen by the parameter RP Value or the double word RP_POS: (%MDr.m.c.22).

The approach speed is the manual speed defined in the adjustment screen or in the double word MAN_SPD (%MDr.m.c.20) multiplied by the CMV (Speed Modulation Coefficient). The reference point speed varies according to the type of reference point selected.

Any movement speed higher than FMAX (maximum speed of the axis defined at configuration) is limited to the FMAX value.