Festo MTR-DCI-...IO Series, Description, Page: 104 / 182

5. Commissioning
5-26
Festo P.BE-MTR-DCI-IO-EN en 1209d
5.4.3 Function description (pulse-time diagram)
Switch-on and homing run
Start-up reaction In order to guarantee that the system starts correctly, all
input signals must be stable when the power supply is
switched on (min. 1 s). After this the input signals are
scanned:
If a fault occurs when the device is switched on, the START
signal
>
1 will not be observed until the FAULT signal is
cancelled.
If there are no faults and the enable is active (ENABLE signal
= 1), the controller reports readiness for operation, i.e.
(READY signal
>
1 and MC signal =1 (Motion Complete).
Start homing run If there are no faults and enable is active (ENABLE = 1), hom-
ing run (input word I1 ... I4 = 1, positive edge at START input)
can be carried out. When the START signal is set (
>
1), the
MC signal is reset (
>
0) and the drive carries out homing
run.
Disable Homing run can be discontinued like any position set with a
falling edge at the ENABLE input (
>
0).
Fault If homing run is discontinued by a cancelled ENABLE signal or
a fault, the controller will set internally the FAULT signal (
>
1,
HOMING ERROR). The MC signal and the READY signal will be
reset
>
0.