Festo Электромотор MTR-DCI - Manual (Page 153)

5. Commissioning
5-65
Festo P.BE-MTR-DCI-PB-EN en 1209a
Overview of parameters involved (see also section B.1.12)
Parameters involved Description FCT PNU CI
Axis zero point offset x 1010 607Ch
Homing method x 1011 6098h
Homing speeds x 1012 6099h
Homing required – 1014 23F6h
Maximum homing torque x 1015 23F7h
Start CPOS.B2 = positive edge: Start homing
Feedback SPOS.B1 = positive edge: Acknowledge start
SPOS.B7 = drive homed to reference point
Requirement Device control by PLC/fieldbus
Controller must be in status “Operation enabled”
No active command for jogging
Tab. 5/18: Parameters involved in homing
Homing methods
1)
hex. dec. Description
17h 23 Search for reference switch in positive direction.
1Bh 27 Search for reference switch in negative direction.
EFh -17 Search for negative stop. The point found is the reference position. As the
axis must not stand still at the stop, the axis zero point offset must be ≠ 0.
EEh -18 Search for positive stop. The point found is the reference position. As the
axis must not stand still at the stop, the axis zero point offset must be ≠ 0.
1)
For detailed description of homing methods see section 5.2.2.
Tab. 5/19: Overview of homing methods