line;color:#6F6F6F;white-space:normal;background-color:#FFFFFF;border-right:0px;word-spacing:0px;border-bottom:0px;text-transform:none;font-weight:400;padding-bottom:0px;font-style:normal;padding-top:0px;padding-left:0px;margin:12px 0px 10px;border-left:0px;orphans:2;widows:2;letter-spacing:normal;padding-right:0px;text-indent:0px;font-variant-ligatures:normal;font-variant-caps:normal;-webkit-text-stroke-width:0px;text-decoration-style:initial;text-decoration-color:initial;font-variant-numeric:inherit;font-stretch:inherit;"> S120 中基本定位功能的點動有兩種方式：
? 速度方式( travel endless)：點動按鈕按下，軸以設(shè)定的速度運行直至按鈕釋放。
? 位置方式( travel incremental)：點動按鈕按下并保持，軸以設(shè)定的速度運行至目標位置后自動停止。

line;color:#6F6F6F;white-space:normal;background-color:#FFFFFF;border-right:0px;word-spacing:0px;border-bottom:0px;text-transform:none;font-weight:400;padding-bottom:0px;font-style:normal;padding-top:0px;padding-left:0px;margin:12px 0px 10px;border-left:0px;orphans:2;widows:2;letter-spacing:normal;padding-right:0px;text-indent:0px;font-variant-ligatures:normal;font-variant-caps:normal;-webkit-text-stroke-width:0px;text-decoration-style:initial;text-decoration-color:initial;font-variant-numeric:inherit;font-stretch:inherit;"> ? 使用控制面板的點動功能僅限于速度方式，位置方式需使用參數(shù)表設(shè)定。

line;color:#6F6F6F;white-space:normal;background-color:#FFFFFF;border-right:0px;word-spacing:0px;border-bottom:0px;text-transform:none;font-weight:400;padding-bottom:0px;font-style:normal;padding-top:0px;padding-left:0px;margin:12px 0px 10px;border-left:0px;orphans:2;widows:2;letter-spacing:normal;padding-right:0px;text-indent:0px;font-variant-ligatures:normal;font-variant-caps:normal;-webkit-text-stroke-width:0px;text-decoration-style:initial;text-decoration-color:initial;font-variant-numeric:inherit;font-stretch:inherit;"> ? 執(zhí)行點動功能，應(yīng)先使能變頻器ON/OFF1（P0840）

line;color:#6F6F6F;white-space:normal;background-color:#FFFFFF;border-right:0px;word-spacing:0px;border-bottom:0px;text-transform:none;font-weight:400;padding-bottom:0px;font-style:normal;padding-top:0px;padding-left:0px;margin:12px 0px 10px;border-left:0px;orphans:2;widows:2;letter-spacing:normal;padding-right:0px;text-indent:0px;font-variant-ligatures:normal;font-variant-caps:normal;-webkit-text-stroke-width:0px;text-decoration-style:initial;text-decoration-color:initial;font-variant-numeric:inherit;font-stretch:inherit;">

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line;color:#6F6F6F;white-space:normal;background-color:#FFFFFF;border-right:0px;word-spacing:0px;border-bottom:0px;text-transform:none;font-weight:400;padding-bottom:0px;font-style:normal;padding-top:0px;padding-left:0px;margin:12px 0px 10px;border-left:0px;orphans:2;widows:2;letter-spacing:normal;padding-right:0px;text-indent:0px;font-variant-ligatures:normal;font-variant-caps:normal;-webkit-text-stroke-width:0px;text-decoration-style:initial;text-decoration-color:initial;font-variant-numeric:inherit;font-stretch:inherit;"> 四、基本定位_回零（Homing / Reference）
回零/尋參（Homing / Reference）

line;color:#6F6F6F;white-space:normal;background-color:#FFFFFF;border-right:0px;word-spacing:0px;border-bottom:0px;text-transform:none;font-weight:400;padding-bottom:0px;font-style:normal;padding-top:0px;padding-left:0px;margin:12px 0px 10px;border-left:0px;orphans:2;widows:2;letter-spacing:normal;padding-right:0px;text-indent:0px;font-variant-ligatures:normal;font-variant-caps:normal;-webkit-text-stroke-width:0px;text-decoration-style:initial;text-decoration-color:initial;font-variant-numeric:inherit;font-stretch:inherit;"> 4.1設(shè)置參考點 (Set_Reference)
通過用戶程序可設(shè)置任意位置為坐標原點。通常情況下只有當系統(tǒng)即無接近開關(guān)又無編碼器的零脈沖時，或者當需要軸被設(shè)置為一個不同的位置時才使用該方式

line;color:#6F6F6F;white-space:normal;background-color:#FFFFFF;border-right:0px;word-spacing:0px;border-bottom:0px;text-transform:none;font-weight:400;padding-bottom:0px;font-style:normal;padding-top:0px;padding-left:0px;margin:12px 0px 10px;border-left:0px;orphans:2;widows:2;letter-spacing:normal;padding-right:0px;text-indent:0px;font-variant-ligatures:normal;font-variant-caps:normal;-webkit-text-stroke-width:0px;text-decoration-style:initial;text-decoration-color:initial;font-variant-numeric:inherit;font-stretch:inherit;">

line;color:#6F6F6F;white-space:normal;background-color:#FFFFFF;border-right:0px;word-spacing:0px;border-bottom:0px;text-transform:none;font-weight:400;padding-bottom:0px;font-style:normal;padding-top:0px;padding-left:0px;margin:12px 0px 10px;border-left:0px;orphans:2;widows:2;letter-spacing:normal;padding-right:0px;text-indent:0px;font-variant-ligatures:normal;font-variant-caps:normal;-webkit-text-stroke-width:0px;text-decoration-style:initial;text-decoration-color:initial;font-variant-numeric:inherit;font-stretch:inherit;">

line;color:#6F6F6F;white-space:normal;background-color:#FFFFFF;border-right:0px;word-spacing:0px;border-bottom:0px;text-transform:none;font-weight:400;padding-bottom:0px;font-style:normal;padding-top:0px;padding-left:0px;margin:12px 0px 10px;border-left:0px;orphans:2;widows:2;letter-spacing:normal;padding-right:0px;text-indent:0px;font-variant-ligatures:normal;font-variant-caps:normal;-webkit-text-stroke-width:0px;text-decoration-style:initial;text-decoration-color:initial;font-variant-numeric:inherit;font-stretch:inherit;"> 操作步驟（已設(shè)定開關(guān)量輸入點 DI2 為ON/OFF1命令源 P840）

line;color:#6F6F6F;white-space:normal;background-color:#FFFFFF;border-right:0px;word-spacing:0px;border-bottom:0px;text-transform:none;font-weight:400;padding-bottom:0px;font-style:normal;padding-top:0px;padding-left:0px;margin:12px 0px 10px;border-left:0px;orphans:2;widows:2;letter-spacing:normal;padding-right:0px;text-indent:0px;font-variant-ligatures:normal;font-variant-caps:normal;-webkit-text-stroke-width:0px;text-decoration-style:initial;text-decoration-color:initial;font-variant-numeric:inherit;font-stretch:inherit;"> 4.2.1值編碼器的主動回零
如果我們使用值編碼器并且作主動回零時會看到如下頁面：

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line;color:#6F6F6F;white-space:normal;background-color:#FFFFFF;border-right:0px;word-spacing:0px;border-bottom:0px;text-transform:none;font-weight:400;padding-bottom:0px;font-style:normal;padding-top:0px;padding-left:0px;margin:12px 0px 10px;border-left:0px;orphans:2;widows:2;letter-spacing:normal;padding-right:0px;text-indent:0px;font-variant-ligatures:normal;font-variant-caps:normal;-webkit-text-stroke-width:0px;text-decoration-style:initial;text-decoration-color:initial;font-variant-numeric:inherit;font-stretch:inherit;"> 4.2.2增量編碼器的主動回零
依下圖所示進行配置

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line;color:#6F6F6F;white-space:normal;background-color:#FFFFFF;border-right:0px;word-spacing:0px;border-bottom:0px;text-transform:none;font-weight:400;padding-bottom:0px;font-style:normal;padding-top:0px;padding-left:0px;margin:12px 0px 10px;border-left:0px;orphans:2;widows:2;letter-spacing:normal;padding-right:0px;text-indent:0px;font-variant-ligatures:normal;font-variant-caps:normal;-webkit-text-stroke-width:0px;text-decoration-style:initial;text-decoration-color:initial;font-variant-numeric:inherit;font-stretch:inherit;"> 相關(guān)參數(shù)設(shè)定

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1. 進入 “ Homing “ (回零) 頁面
2. 定義開關(guān)量輸入點DI 1為開始尋參命令（參數(shù)P2595=722.0）
3. 回零方式選擇主動回零P2597=0
4. 定義開關(guān)量輸入點DI 2為接近開關(guān) P2612= 722.1（粗脈沖）
5. 軸運行極限點，如果回零過程中極限點到達（P2613/P2614=0）則軸反轉(zhuǎn)。若兩點全為零則軸停止。
6. 回零方式：接近開關(guān) + 編碼器零脈沖
7. 回零開始方向P2604 (0:正向；1：反向)

line;color:#6F6F6F;white-space:normal;background-color:#FFFFFF;border-right:0px;word-spacing:0px;border-bottom:0px;text-transform:none;font-weight:400;padding-bottom:0px;font-style:normal;padding-top:0px;padding-left:0px;margin:12px 0px 10px;border-left:0px;orphans:2;widows:2;letter-spacing:normal;padding-right:0px;text-indent:0px;font-variant-ligatures:normal;font-variant-caps:normal;-webkit-text-stroke-width:0px;text-decoration-style:initial;text-decoration-color:initial;font-variant-numeric:inherit;font-stretch:inherit;">  

line;color:#6F6F6F;white-space:normal;background-color:#FFFFFF;border-right:0px;word-spacing:0px;border-bottom:0px;text-transform:none;font-weight:400;padding-bottom:0px;font-style:normal;padding-top:0px;padding-left:0px;margin:12px 0px 10px;border-left:0px;orphans:2;widows:2;letter-spacing:normal;padding-right:0px;text-indent:0px;font-variant-ligatures:normal;font-variant-caps:normal;-webkit-text-stroke-width:0px;text-decoration-style:initial;text-decoration-color:initial;font-variant-numeric:inherit;font-stretch:inherit;"> 4.3動態(tài)回零（Passive Homing）
Passive Homing （動態(tài)回零）又稱為 Homing on the fly
動態(tài)回零用于軸工作于任意定位狀態(tài)時動態(tài)修改當前位置值為零（如：在點動時、執(zhí)行程序步時，執(zhí)行 MDI 時），執(zhí)行動態(tài)回零后并不影響軸當前的運行狀態(tài)，軸并不是真正的回到零點而只是其當前位置值被置為0，重新開始計算位置。
前提條件：P2597=1
值編碼器的動態(tài)回零：

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line;color:#6F6F6F;white-space:normal;background-color:#FFFFFF;border-right:0px;word-spacing:0px;border-bottom:0px;text-transform:none;font-weight:400;padding-bottom:0px;font-style:normal;padding-top:0px;padding-left:0px;margin:12px 0px 10px;border-left:0px;orphans:2;widows:2;letter-spacing:normal;padding-right:0px;text-indent:0px;font-variant-ligatures:normal;font-variant-caps:normal;-webkit-text-stroke-width:0px;text-decoration-style:initial;text-decoration-color:initial;font-variant-numeric:inherit;font-stretch:inherit;"> 五、基本定位_限位（Limit）
S120 中包含兩種限位功能：軟限位、硬限位。以限制軸運行范圍。同時還有對軸運行速度，加減速的限制。

line;color:#6F6F6F;white-space:normal;background-color:#FFFFFF;border-right:0px;word-spacing:0px;border-bottom:0px;text-transform:none;font-weight:400;padding-bottom:0px;font-style:normal;padding-top:0px;padding-left:0px;margin:12px 0px 10px;border-left:0px;orphans:2;widows:2;letter-spacing:normal;padding-right:0px;text-indent:0px;font-variant-ligatures:normal;font-variant-caps:normal;-webkit-text-stroke-width:0px;text-decoration-style:initial;text-decoration-color:initial;font-variant-numeric:inherit;font-stretch:inherit;"> 如下圖所示激活限位方式

line;quotes:none;color:#6F6F6F;white-space:normal;background-color:#FFFFFF;border-right:0px;word-spacing:0px;border-bottom:0px;text-transform:none;font-weight:400;padding-bottom:0px;font-style:normal;padding-top:0px;padding-left:0px;margin:0px 0px 0px 16px;border-left:0px;orphans:2;widows:2;letter-spacing:normal;padding-right:0px;text-indent:0px;font-variant-ligatures:normal;font-variant-caps:normal;-webkit-text-stroke-width:0px;text-decoration-style:initial;text-decoration-color:initial;font-variant-numeric:inherit;font-stretch:inherit;">

? 項目導(dǎo)航欄中選擇限位功能塊
? 激活軟限位P2582 =1，正/反向位置范圍通過 P2578, P2579設(shè)定
? 激活硬限位P2568 =1，硬限位位置開關(guān)源 P2569, P2570
? 大速度：P2571、大加速度：P2572、大減速度：P2573

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