6
Positioning mode
158
Festo – GDCP-CMMS/D-FW-EN – 1404NH – English
Timing diagram: Homing to stop
The timing diagram shows the search for the stop and the subsequent approach of the axis zero point.
For additional information on the “stop” homing method
page 161.
Start positioning
(DIN8)[X1.23]
Stop
(DIN13)[X1.15]
Motion complete
(DOUT1)[X1.12]
Controller ready for operation
(DOUT0)[X1.24]
Common error
(DOUT3)[X1.13]
t1
t2
Stop detected
Speed
v+
v–
“Run”
2
1
Status word referenced (FCT)
Homing complete
(DOUT…)[X1.…]
“Search”
t3
t2
t4
Axis
zero point
reached
t5
t1
≤
5 ms
t2
= … ms (FCT: Dependent on the acceleration
ramp)
t3
= … ms (dependent on the torque threshold
(FCT) and damping characteristic of the stop)
t4
= … ms (FCT: Dependent on the deceleration
ramp)
t5
= … ms (FCT: Dependent on the parameters
“Message window” and “Damping time” in
the message “Destination reached”)
1
Travel curve with “Positive stop” homing
methods
2
Travel curve with “Negative stop” homing
methods
Fig. 6.24 Timing diagram: Homing to stop
Summary of Contents for CMMD-AS series
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