Method -18: positive search direction
Method -17: negative search direction
Tab. 249 Sequence principle - homing to stop
Situation
Reaction
"Search direction" stop not detected
Homing aborted with fault message.
"Search direction" limit switch detected
Homing aborted with fault message.
"Opposite direction" limit switch detected
Homing aborted with fault message.
Tab. 250 Different sequence scenarios
4.4.3.9
Method -1/-2 negative/positive stop with zero pulse
The reference mark is found after identification of the stop by the first zero pulse of the encoder.
Sequence:
1. Search stop: stop is searched in search direction at search velocity.
2. Search zero pulse: first zero pulse of the encoder is searched at creep velocity in the opposite dir-
ection.
3. Set reference mark: position of the zero pulse is taken as the reference mark.
4. Set axis zero-point: the axis zero-point is set with reference to the reference mark.
5. Report status: "homing status" is set.
Travel to the axis zero-point
è
4.4.3.10 Travel to axis zero-point.
Method -2: positive search direction
Method -1: negative search direction
Motion control
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Festo — CMMT-ST-SW — 2019-02
Summary of Contents for CMMT-ST-SW
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