ACOPOS how to move an unhomed axis?

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Hi there,

is there a way to move an unhomed ACOPOS axis? I want to directly reference an axis on a defined mechanical position. Therefore i need to be able to jog the axis to the desired position in an unhomed state. Unfortunately B&R MC_Move_Velocity does not allow this. What is the B&R intended way for this use case?

Thanks in advance!
Dominik

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If this is to be done automatically, one of the homing modes does that for you already: B&R Online Help

If it’s about doing this once, manually: Simply reference at your current position (direct homing with position 0) and jog to where you want to be and set the position to the desired value there

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Hi Michael, thanks for your reply. This is exactly what i am doing right now (double direct referencing), but for me this feels more like a workaround than the intended way. But if there is no other way i will have to live with that.

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Hello,
i may add that it depends on the Drive implementation how the system behaves with the homing requirement. For PureVax you can move the axis without a homing as far as i know. So the B&R System can behave different to this topic for different axis types.

But if your axes implementation requires the axis to be homed, doing a dummy homing at first is the only way to work around this. You may need to implement your own Software “isHomed” Flag to indicate the final homing due to the sequence.

Greetings
Michael

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