Command: Learn Z Alignment (54)

Supported Axes:

Quadrature on the RMC75 QA, RMC150 Q, RMC200 Q4, RMC200 U14, and RMC200 D24 modules

See the Commands Overview topic for basic command information and how to issue commands from PLCs, HMIs, etc.

Command Parameters

None.

Description

This command instructs the quadrature axis to monitor the encoder for an Indez (Z) pulse in order to determine its alignment with relationship to the A and B pulses.

After the Learn Z Alignment command has been issued, the Learning Z Alignment status bit will be set and will remain set until the axis has learned the Index (Z) alignment. The axis will learn the Z alignment as soon as the Index (Z) pulse is encountered. Once the axis has learned the Z alignment, it will clear the Learning Z Alignment status bit, and will update the Index (Z) Home Location parameter.

Determining the Z alignment is important for accurate homing with the Index (Z) pulse in either direction of motion on a quadrature encoder. See the Index (Z) Home Location topic for details.

Using this Command During Setup

Typically, you only need to issue this command when setting up the axis:

Issue the Learn Z Alignment (54) command to the axis. The Learning Z Alignment status bit will turn on.
Rotate the encoder at least one full revolution so that the Learning Z Alignment status bit turns off. This indicates that the Index (Z) Home Location parameter has been set.
Update Flash to store the settings in Flash memory.