Festo CMMT-ST-SW, Оригинальное руководство пользователя

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1. Search zero pulse: first zero pulse of the encoder is searched at creep velocity in the search direc-
tion.
2. Set reference mark: position of the zero pulse is taken as the reference mark.
3. Set axis zero-point: the axis zero-point is set with reference to the reference mark.
4. Report status: "homing status" is set.
Travel to the axis zero-point
è 4.4.3.10 Travel to axis zero-point.
Method 34: positive search direction Method 33: negative search direction
Tab. 237 Sequence principle: homing to zero pulse
Situation Reaction
Zero pulse within one motor revolution not detec-
ted Homing aborted with fault message.
Distance "zero pulse - limit switch" too short Homing aborted with fault message.
Limit switch detected Homing aborted with fault message.
Stop detected Homing aborted with fault message.
Tab. 238 Different sequence scenarios
4.4.3.3 Method 17/18 negative/positive limit switch
The reference mark is found by the switching edge of the limit switch.
Sequence:
1. Search limit switch: rising edge of the limit switch is searched in search direction at search velo-
city.
2. Search limit switch edge: falling edge of the limit switch (rest position) is searched at creep velo-
city in the opposite direction.
3. Set reference mark: position of switching edge is taken as the reference mark.
4. Set axis zero-point: the axis zero-point is set with reference to the reference mark.
5. Report status: "homing status" is set.
Travel to the axis zero-point
è
4.4.3.10 Travel to axis zero-point.
Motion control
267 Festo — CMMT-ST-SW — 2019-02