Festo CMMT-ST-SW, Original Instructions Manual

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Situation Reaction
Axis zero-point was not reached Homing aborted with fault message.
Limit switch detected Homing aborted with fault message.
Stop detected Homing aborted with fault message.
Tab. 254 Different sequence scenarios
4.4.4 CiA 402
Objects for homing
Parameters Index.Subindex Name Data type
Px. CiA402: factor group is effective.
843 0x6099.01 Search for reference mark setpoint velocity UINT32
844 0x609A.01 Search for reference mark setpoint accelera-
tion UINT32
846 0x6099.02 Setpoint reference mark creeping velocity UINT32
847 0x609A.02 Setpoint reference mark creeping acceleration UINT32
849 0x6099.03 Move to axis zero point setpoint velocity UINT32
8410 0x609A.03 Move to axis zero point setpoint acceleration UINT32
8416 0x607C.00 Axis zero point offset SINT32
8417 0x6098.00 Referencing method SINT8
Px. Manufacturer-specific objects: saved basic unit for the object is effective.
840 0x2172.01 Referencing status UINT32
841 0x2172.02 Move to axis zero point after homing BOOL
842 0x2172.03 Homing timeout FLOAT32
843 0x2172.04 Search for reference mark setpoint velocity FLOAT32
844 0x2172.05 Search for reference mark setpoint accelera-
tion FLOAT32
845 0x2172.06 Search for reference mark setpoint jerk FLOAT32
846 0x2172.07 Setpoint reference mark creeping velocity FLOAT32
847 0x2172.08 Setpoint reference mark creeping acceleration FLOAT32
848 0x2172.09 Setpoint reference mark creeping jerk FLOAT32
849 0x2172.0A Move to axis zero point setpoint velocity FLOAT32
8410 0x2172.0B Move to axis zero point setpoint acceleration FLOAT32
Motion control
275 Festo — CMMT-ST-SW — 2019-02