Festo Электромотор MTR-DCI - Manual (Page 41)

1. System overview
1-19 Festo P.BE-MTR-DCI-CO-EN en 1209a
1.6.3 Reference run (homing)
In the case of drives with incremental measuring system,
homing must always be carried out when the device is
switched on. This is defined drive-specifically with the para-
meter “Homing (reference travel) required” (PNU 1014,
CANopen/CI 23F6h).
The following homing modes are permitted:
– Search for stop in a negative direction
– Search for stop in a positive direction
– Search for reference switch in a positive direction
– Search for reference switch in a negative direction
(default).
In order to search for the reference point and for positioning
the drive in the axis zero point, you can set two different
speeds.
Homing sequence:
1. Search for the reference point in accordance with the
configured method.
2. Move from reference point to axis zero point AZ (offset
axis zero point)
3. Set at axis zero point:
Current position = 0 – offset project zero point PZ.
After successful reference travel the drive stands at the axis
zero point AZ. On initial commissioning or following a change
of homing method the axis zero offset is = 0; after homing
the drive is then positioned at the reference point (REF).