6
Positioning mode
Festo – GDCP-CMMS/D-FW-EN – 1404NH – English
159
Timing diagram: Cancel homing via Stop signal
The timing diagram shows the stopping of the homing process via the stop signal (DIN13).
Start positioning
(DIN8)[X1.23]
Stop
(DIN13)[X1.15]
Limit switch 1
(DIN7)[X1.10]
Motion complete
(DOUT1)[X1.12]
Controller ready for operation
(DOUT0)[X1.24]
Common error
(DOUT3)[X1.13]
t1
Velocity
v+
v–
Status word referenced (FCT)
Homing complete
(DOUT…)[X1.…]
t2
t3
t2
t6
“Search”
“Crawl”
t4
Limit switch 0
(DIN6)[X1.22]
3
1
2
t7
t5
Limit switch 0
detected
t1
≤
5 ms
t2
= … ms (dependent on the acceleration
ramp)
t3
= … ms (dependent on the deceleration
ramp)
t4
≤
2.5 ms
t5
≤
2.5 ms
t6
= … ms (FCT: Dependent on the parameter
“Stop input” in the stop decelerations)
t7
= … ms (FCT: Dependent on the parameters
“Message window” and “Damping time” in
the message “Destination reached”)
1
Example: “Normally closed” limit switch type
2
Travel curve with “Positive limit switch” hom-
ing methods
3
Travel curve with “Negative limit switch”
homing methods
Fig. 6.25 Timing diagram: Cancelling homing via stop signal
Summary of Contents for CMMD-AS series
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