Festo CMMS-AS-G2 Series, Description

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6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 95
6.7.5 Homing mode/configure and parameterise homing
The following settings can be configured and parametrised in the Festo Configuration Tool (FCT):
– Detect limit switch:
Parameterise the deceleration sufficiently high so that the drive does not overrun the
limit switch too far during the “Search” run.
– Detect reference point
Parameterise the “Crawl” speed very low so that the reference point can be detected
by the motor controller.
Settings Description
Homing method
Target For homing, the following targets can be configured:
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– Current position
– Limit switches
– Limit switch with zero pulse
– Stop
– Stop with zero pulse
– Zero pulse
Direction For homing, the following search directions can be configured:
– Positive direction
– Negative direction
Parameter
Search: travel to the limit switch or stop
Speed Setpoint value for travel with “Search” speed.
Acceleration Setpoint value for acceleration to “Search” speed or for deceleration
to rest.
Crawl: travel to the reference point
Speed Setpoint value for travel with “Crawl” speed.
Acceleration Setpoint value for acceleration to “Crawl” speed or for deceleration to
rest.
Run: travel to the axis zero point
Speed Setpoint value for travel with “Run” speed.
Acceleration Setpoint value for acceleration to “Run” speed or for deceleration to
rest.
Additional parameters
Torque threshold Requirement: homing method “Stop” has been activated.
Threshold value for the torque at which the stop is detected.
Axis zero point Setpoint value for the distance to the reference point.