10
Control via FHPP
Festo – EMCA-EC-C-HP-EN – 2017-11e – English
155
10.4
Homing mode
10.4.1
Homing
In homing, the reference point of the dimensional reference system is determined. All points of refer
ence and drive limits of the dimension reference system refer directly or indirectly to the reference
point. The reference point is the absolute reference point for the axis zero point
è
record and direct mode, valid homing is always required. The homing sequence always depends on the
homing method and homing parameters
è
page 160. The reference point is determined as follows:
–
Reference switch: evaluation of the trailing switch edge
è
–
Limit switch: evaluation of the trailing switch edge
è
–
Stop: evaluation of the stop detection
è
–
Current position: evaluation of the current actual position
–
Reference/limit switch with index: evaluation of the index from the encoder
With the homing method “Stop”, travel to the axis zero point is always at positioning speed. For all
other homing methods, travel to the axis zero point is optional. After valid homing, the EMCA remains
controlled at the reference point or the axis zero point.
Note
Loss of homing
–
When the homing method is changed
–
When the dimension reference system is changed
–
Single-turn absolute encoder:
If there is no power supply or after a “Reset device” reset (PNU 127.3 = 10
h
), hom
ing is lost.
–
Multi-turn absolute encoder:
If there is no power supply or it is switched off, homing is lost when the internal
battery is discharged.
For additional information
è
Description for “Integrated drive with bus interface,
EMCA-EC-SY-...”.
Software end positions
The software end positions are deactivated with the start of homing and reactivated after
a valid homing.
Summary of Contents for EMCA-EC-67 CO Series
Page 33: ...2 CANopen Festo EMCA EC C HP EN 2017 11e English 33 ...
Page 73: ...3 EtherCAT with FHPP Festo EMCA EC C HP EN 2017 11e English 73 ...
Page 87: ...4 EtherNet IP with FHPP Festo EMCA EC C HP EN 2017 11e English 87 ...
Page 113: ...6 PROFINET IO with FHPP Festo EMCA EC C HP EN 2017 11e English 113 ...
Page 116: ...7 FHPP 116 Festo EMCA EC C HP EN 2017 11e English ...
Page 140: ...8 FHPP standard data I O data 140 Festo EMCA EC C HP EN 2017 11e English ...
Page 148: ...9 Measuring reference system 148 Festo EMCA EC C HP EN 2017 11e English ...
Page 210: ...10 Control via FHPP 210 Festo EMCA EC C HP EN 2017 11e English ...
Page 223: ...11 Monitoring of the drive behaviour Festo EMCA EC C HP EN 2017 11e English 223 ...
Page 367: ...D CANopen communication Festo EMCA EC C HP EN 2017 11e English 367 ...
Page 402: ...F Diagnostics and fault clearance 402 Festo EMCA EC C HP EN 2017 11e English ...
Page 413: ...EMCA EC 67 CO DIO EC EP PN Festo EMCA EC C HP EN 2017 11e English 413 ...
Page 414: ...EMCA EC 67 CO DIO EC EP PN 414 Festo EMCA EC C HP EN 2017 11e English ...
Page 415: ......