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Is there a way to start a Motion Task in Lexium automatically on completion of the Homing command?

Goals and Symptoms

The purpose of this resolution is to inform users of a parameter in Lexium that allows start of a Motion Task automatically on completion of homing.

Facts and Changes

Parameter 'NREFMT' depending on its setting, can now be used to automatically start a Motion Task on completion of Homing.

Causes and Fixes

Implemented in Drive Firmware version 5.80
The ASCII parameter 'NREFMT' will start a motion task automatically on completion of homing.

This parameter is a bit-variable (16 bit) represented by

FEDCBA9876543210
xxxxxxxcnnnnnnnn

where Bits 0..7 (nnnnnnnn) represent the number of the motion task to be started automatically.
If the number = 0, then no motion task will be started.

If Bit 8 (c) is set to '0', the motion task given by the number 'nn' will be started after Homing is complete and the motor has stopped. The status bits "homing active=0“ and "homing finished=1“ are set before the motion task 'nn' is started.

If Bit 8 (c) is set to '1', the motion task 'nn' starts immediately (without stopping) after Homing is completed. The status bits "homing active=0“ and "homing finished=1“ are set after the motion task 'nn' is completed.
This is illustrated by a simple example.

To start a Motion task # 1, set NREFMT = 1 ( bit 8 = 0) using the terminal mode in Unilink. Perform a SAVE and RESET of the drive.
Start the Homing procedure. The motor will complete Homing based on the selected setting of 'NREF' and then start the Motion task # 1, after a brief stop.

Alternatively, if NREFMT is set to 257, ( bit 8 = 1), the Motion Task # 1 will start without any stop.
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