Festo CMMO-ST-C5-1-LKP, Original Instructions Manual

Page: 53 / 183

6 Control via FHPP
Festo – GDCP-CMMO-ST-LK-C-HP-EN – 2017-05b – English 53
6.2.2 Methods of homing
The homing method to be selected depends on the parameterised axis, application and condition of the
system.
The homing methods are oriented on CANopen CiA 402.
Accuracy of the homing point
To increase the absolute positioning accuracy, the zero pulse of the incremental encoder
can be used for evaluation.
Software end positions
The software end positions are deactivated with the start of homing and activated again
after homing is completed.
The following homing methods are possible, depending on the motor configuration.
Motor/operation/reference switch Possible homing methods
Motor with encoder in controlled operation
(closed loop) without reference switch
-35 Current position
33 Current po index – negative direction
34 Current po index – positive direction
-17 Stop – negative direction
-18 Stop – positive direction
Motor with encoder in controlled operation
(closed loop) with reference switch
-35 Current position
33 Current po index – negative direction
34 Current po index – positive direction
-17 Stop – negative direction
-18 Stop – positive direction
27 Reference switch – positive direction
23 Reference switch – negative direction
11 Reference index – negative direc­
tion
7 Reference index – positive direction
Motor without encoder or in controlled op­
eration (open loop) without reference
switch
-35 Current position
Motor without encoder or in controlled op­
eration (open loop) with reference switch
-35 Current position
27 Reference switch – negative direction
23 Reference switch – positive direction
Tab. 6.2 Possible homing methods
Information on the sequence of homing methods
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equipment and functional descrip­
tion of the motor controller, GDCP-CMMO-ST-LK-SY-....