Home mode 33 or 34 allows users to have the Pseries indexer home to the reference mark (aka Z pulse) on the absolute encoder which occurs once per revolution.
Home mode 33 is in CW direction and 34 is in CCW direction.
Set the Home Offset for these to 0. Write to Flash and Software Reset.
Enable the drive and then Home the drive.
This moves to the reference mark on the absolute encoder and then resets the absolute position to 0.
Then you're able to use Point-to-Point to move to other positions and test this. If you cycle power, commanding it to move to 0 will now move to that position.
If you'd prefer to reset the absolute position to another position, after doing the above:
If you know the offset, then in the homing above, you can input the offset within the homing sequence. This will find the reference mark and then reset the home position to the offset value.
ie, PM-DD is 1048576 counts per rev (20bit resolution). 45degrees or 1/4 rev would be 262144.
If you input the offset of 262144, this would shift the zero position CCW 45degrees.
If you input the offset of -262144, this would shift the zero position CW 45degrees.
Be sure to click Save to Memory to retain this offset value. If not, when you cycle power, the zero position won't be changed.
Reset the drive or cycle power to have this take effect.
If you're externally jogging it to the desired to the zero position, use Point-to-Point to command it to move to the desired 0 position. Set the Home mode 35 to reset the absolute position where it is, set the Home Offset value to the negaive value of the feedback (not 0).
If the absolute position is 45degrees from the reference mark and the PM-DD is 20bit resolution (2^20 = 1,048,576 counts/per rev) then set the Home Offset to -262144.
Click Save to Memory, and Software Reset.
Enable the drive and click Homing.
You will see this offset the motor Feedback position.
Now if you cycle power or software reset (requires disabling the drive), if you command it to move to 0 position such as with PTP, it now moves to the new position as its 0.
Note: The home offset value is an absolute value, not relative. If a user jogs it to a new position, such as 262144 (524288 counts from original 0 position), with Home mode 35, set the offset to -524288; it doesn't add the offset to the original value but is absolute to the reference mark. This is where the Encoder information in the Cyclic Monitoring screen (from the Monitoring menu) shown above is helpful.
