Festo Электромотор MTR-DCI - Manual (Page 45)

1. System overview
1-23 Festo P.BE-MTR-DCI-DN-EN en 1209a
1.6.3 Homing
For drives with incremental measuring systems, homing must
always be done after switching on. This is defined on a
drive.specific basis using the parameter “Homing required”
(PNU 1014, CI 23F6h).
The following homing modes are permitted:
– Search for stop in negative direction
– Search for stop in positive direction
– Search for reference switch in positive direction
– Search for reference switch in negative direction
(default).
To locate the reference point and position the drive at the
axis zero point, two different speeds can be set.
Homing procedure:
1. Search for the reference point in accordance with the
configured method
2. Move from the reference point to the axis zero point AZ
(axis zero point offset)
3. Set at axis zero point:
Current position = 0 – project zero point offset PZ
After a successful homing the drive stops at the axis zero
point AZ. With first commissioning or when the homing
method is changed, the offset of the axis zero point = 0; after
homing the drive then stands at the homing point REF.