Festo EMCS-ST, Operating Instructions Manual

Page: 41 / 86

11.3 Operating modes
11.3.1 Dynamic state change
It is possible to switch between the states (controlled position, end position Lim
In
, end position Lim
Out
,
torque-free position) dynamically, during the motion of the drive or at standstill.
The following table gives an overview of the activation times of the control signals:
From... To...
Status regulated
position Lim
In
Lim
Out
torque-free
position
Control signals 0-0 0-1 1-0 1-1
regulated
position 0-0
–
20 ms 20 ms 3000 ms
Lim
In
0-1 20 ms
–
20 ms 3000 ms
Lim
Out
1-0 20 ms 20 ms
–
3000 ms
torque-free
position 1-1 20 ms 20 ms 20 ms
–
Tab. 22 Dynamic state change
11.3.2 Homing
Function
In order to be able to approach the positions of the end positions, the connected drive must be refer-
enced to a dimension reference system.
The connected drive is referenced as follows in the delivery status:
–
Linear drive: reference end position "Ref" facing motor
– Rotary drive: left reference end position "Ref"
The homing of the drive includes:
–
Homing
– Definition of the dimension reference system
– Definition of motion directions
– Definition of display or status information
Reference end position "Ref"
During homing, the reference end position "Ref" is calculated from the calculated position of the
stop "Mech
In
". The reference end position "Ref" is by default the absolute reference point of the
dimension reference system (drive system). A valid homing is required for all motion tasks of the end-
to-end operating modes and the manual operating modes (Start Press and Demo).
Drive system
41 Festo — EMCS-ST — 2020-04a