Festo Электромотор MTR-DCI - Manual (Page 152)

5. Commissioning
5-64
Festo P.BE-MTR-DCI-PB-EN en 1209a
Calculation rules for reference system
Point of reference Calculation rule
Axis zero point AZ = REF + a
Project zero point PZ = AZ + d = REF + a + d
Lower software end position LSE = AZ
+ b
= REF
+ a + b
Upper software end position USE = AZ
+ c
= REF
+ a + c
Target/actual position TP, AP = PZ
+ e
= AZ
+ d + e
= REF
+ a + d + e
Tab. 5/17: Calculation rules for reference system
5.8.2 Homing
After switching on, homing must be carried out before a posi-
tioning task can be executed.
The drive homes to a stop or a reference switch. An increase
in the motor current with the drive shaft motionless indicates
that a stop has been reached. As the drive must not be al-
lowed to push constantly against the stop, it must move at
least 0.25 mm back into the stroke range (axis zero point off-
set).
Sequence:
1. Searching for the reference point in accordance with the
configured method.
2. Moving from the reference point to the axis zero point
(axis zero point offset).
3. Setting at axis zero point:
Current position = 0 – project zero point offset (i.e. –PZ).