Festo CMMO-ST-C5-1-DION, Оригинальное руководство пользователя

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2 Product description
36 Festo – GDCP-CMMO-ST-EA-SY-EN – 2017-05c – English
Methods of homing
The homing method defines which target determines the homing point.
Objective CiA 402
1)
Brief description
Position Actual Value DDh -35 The current position becomes the homing point.
Index The next index of the encoder is searched for during
the homing process. When successful, the position
of the index becomes the homing point.
– Positive direction 22h 34
– Negative direction 21h 33
Stop
2)
The mechanical stop is sought during homing. If the
stop is detected in accordance with the
parameterisation (force limit, damping time), the
position becomes the homing point.
– Positive direction
– Negative direction
EEh
EFh
-18
-17
Homing Switch
3)
The reference switch is sought during the homing
process. When successful, the position of the switch
becomes the homing point.
– Positive direction
– Negative direction
17h
1Bh
23
27
Homing Switch with Index
3)2)
The reference switch is sought during the homing
process. When successful, the actuator moves in the
opposite direction to homing as far as the next index
point for the sensor. The position reached becomes
the homing point.
– Positive direction
– Negative direction
07h
0Bh
7
11
1) The homing methods are based on the CANopen device profile CiA 402 (electric actuators).
2) Prerequisite: motor with encoder (open-loop operation).
3) Prerequisite: reference switch (NO, NC) is parameterised
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FCT [...][Axis] Axis Options
Tab. 2.29 Homing methods
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FCT [Axis][Homing] Method
Homing to current position
Homing to current position Example: linear drive
The current position is taken as the homing point. A movement
only takes place if the “Position to axis zero point” option is
enabled.
1)
1) Homing option “Position to axis zero point”
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Tab. 2.26
Tab. 2.30 Homing method – current position