Festo CMMT-ST-SW, Оригинальное руководство пользователя

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Axis zero point
The overview shows the dependency of reference mark (Home position), reference offset (Home off-
set) and axis zero point (Zero position).
Fig. 68 Overview reference offset
Calculation of the axis zero-point:
The axis zero-point is calculated as follows:
Axis zero-point = reference mark + reference offset
All subsequent absolute positions are relative to the axis zero-point.
Precondition for homing
All homing methods can only be performed in the "operation enabled" status.
The following conditions must be fulfilled for homing mode.
–
Operating mode display (Modes of operation display 0x6061) = 6
– Status word (Statusword 0x6041) = 0xXXXX X11X X011 0111
Control and monitoring
Object 0x6040: control word (Controlword)
The object controls the following homing functions:
–
Bit 4: start or abort homing (Homing operation start)
– Bit 8: prepare or abort homing (Halt)
Bit
1)
Description
8 4
Prepare homing for start
0 0 Homing not active
Start homing
0 0
à
1 Start homing
Homing is carried out
0 x Homing active
Motion control
277 Festo — CMMT-ST-SW — 2019-02