Festo Контроллеры двигателя SFC-LAC - Manual (Page 152)

5. Commissioning
5−48
Festo GDCP−SFC−LACI−DN−EN en 0812NH
4. Homing run (requires status 1.4 or 1.5)
Step/
D
i ti
Control bytes Status bytes
Description
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 ć RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL 4.1 Start homing
CCON 0 x x x 0 0 1 1 SCON 0 x 0 1 0 0 1 1
Byte 2 ć 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 running Byte 1 OPM2 OPM1 LOCK ć RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL 4.2 Homing running
CCON 0 x x x 0 0 1 1 SCON 0 x 0 1 0 0 1 1
Byte 2 ć 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 finished Byte 1 OPM2 OPM1 LOCK ć RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL 4.3 Homing finished
CCON 0 x x x 0 0 1 1 SCON 0 x 0 1 0 0 1 1
Byte 2 ć 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 (optional)
F: Edge positive
Tab. 5/7: Control and status bytes Homing run"
Description on 4. Homing run
4.1 A positive edge at CPOS.B2 HOM starts the reference
travel. The start is confirmed with SPOS.B1 CK
(Acknowledge start) as long as CPOS.B2 HOM is set.
4.2 Movement of the axis is shown with SPOS.B4 MOV.
4.3 After successful reference travel SPOS.B2 MC
(MotionĂComplete) and SPOS.B7 REF will be set.
If there are faults during homing:
} Fault handling: see example 3, Tab. 5/6