Festo Электромотор MTR-DCI - Manual (Page 143)

5. Commissioning
5-55
Festo P.BE-MTR-DCI-PB-EN en 1209a
4. Homing (requires status 1.4 or 1.5)
Step/
Description Control bytes Status bytes
Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0
4.1 Start homing Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 x x x 0 x 1 1 SCON 0 x 0 1 0 0 1 1
Byte 2 – CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
CPOS x 0 0 0 0 F 0 1 SPOS 0 0 0 0 0 0 1 1
4.2 Homing is in
progress Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 x x x 0 x 1 1 SCON 0 x 0 1 0 0 1 1
Byte 2 – CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
CPOS x 0 0 0 0 1 0 1 SPOS 0 0 0 1 0 0 1 1
4.3 Homing con-
cluded Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 x x x 0 x 1 1 SCON 0 x 0 1 0 0 1 1
Byte 2 – CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
CPOS x 0 0 0 0 0 0 1 SPOS 1 0 0 0 0 1 0 1
0: 0-signal; 1: 1-signal; x: not relevant (any); F: Edge positive
Tab. 5/12: Control and status bytes for “Homing”
Description for 4. Homing:
4.1 A positive edge at CPOS.B2 (HOM, Start reference
travel) starts the reference travel. The start is confirmed
with SPOS.B1 (acknowledge start) as long as CPOS.B2
(HOM) is set.
4.2 Movement of the axis is shown with SPOS.B4 (MOV,
Axis is moving).
4.3 After successful homing, SPOS.B2 (MC, Motion Com-
plete) and SPOS.B7 (REF) are set.
If there are faults during homing:
} Fault handling: see example 3, Tab. 5/11.