Festo MTR-DCI, Manual

Page: 108 / 184

5. Commissioning
5−30
Festo P.BE−MTR−DCI−IO−EN en 0606b
5.4.3 Function description (pulse−time diagram)
Switch−on and reference travel
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 reference travel If there are no faults and enable is active (ENABLE = 1), refer
ence travel (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 refer
ence travel.
Disable Reference travel can be discontinued like any position set
with a falling edge at the ENABLE input (
> 0).
Fault If reference travel is discontinued by a cancelled ENABLE sig
nal 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.
Please note
If a fault occurs during reference travel, you must do the
following before starting a new position set:
if necessary, reset the START input (= 0),
delete the fault with a falling edge at ENABLE (
>
0),
repeat reference travel.
Please note
With non self−locking axes new reference travel must
always be carried out. With self−locking axes the existing
reference point remains valid until new reference travel is
carried out.