Festo CMMT-ST-SW, Original Instructions Manual

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Name Description
t2 Duration of stop detection
t3 Duration of travel to the axis zero-point
t4 Setpoint value time monitoring window stop detection
v1 Target velocity search
v2 Target velocity travel
x1 Reference mark stop
x2 Axis zero point
x3 Axis zero point offset
x4 Stop
Start Start homing
Status Referencing status
Tab. 234 Legend for homing to stop
4.4.3 Homing methods
The supported homing methods are oriented to the CANopen CiA 402 device profile for electric drives
and additionally manufacturer-specific methods.
Methods
Target and direction of homing travel are specified by the selected homing method.
Referencing methods with zero pulse detection and stop detection are not available in the open-loop
operation without encoder.
Example:
With method 2 "limit switch positive with zero pulse" the "limit switch" primary target is searched in
the positive direction at search velocity. Then the "zero pulse" secondary target is identified at creep
velocity in the negative direction. With travel to axis zero-point activated the parameterised axis zero-
point is approached at travel velocity.
The following homing methods are supported:
Method No. (dec.) Search direction Primary target Secondary target
37 — Current position —
34
1)
positive Current position Zero pulse
Current position
33
1)
negative Current position Zero pulse
18 positive Limit switch —
17 negative Limit switch —
2
1)
positive Limit switch Zero pulse
Limit switch
1
1)
negative Limit switch Zero pulse
Motion control
265 Festo — CMMT-ST-SW — 2019-02