6
Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
93
Timing diagram: cancel homing via stop signal
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
Speed
v+
v–
Status word referenced (FCT)
Homing carried out
(DOUT…)[X1.…]
t2
t3
t2
t6
“Search”
“Crawl”
t4
Limit switch 0 (negative)/
Limit switch 1 (positive)
(DIN6)[X1.22]/(DIN7)[X1.10]
3
1
2
t7
t5
Limit switch
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 “Target reached”)
1
Example: “normally closed” limit switch type
2
Travel curve with “Positive limit switch”
homing methods
3
Travel curve with “Negative limit switch”
homing methods
Fig. 6.24 Timing diagram: cancel homing via stop signal
Summary of Contents for CMMS-AS-G2 Series
Page 173: ......
