Festo Электромотор MTR-DCI - Manual (Page 145)

5. Commissioning
5-47
Festo P.BE-MTR-DCI-DN-EN en 1209a
4. Homing (requires status 1.4 or 1.5)
4.1 A positive edge at CPOS.B2 (HOM, Start homing) starts
the homing run. 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
Complete) and SPOS.B7 (REF) are set.
Step/
Description O data I data
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 0 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 0 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 0 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 0 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 0 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 0 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: I/O data “Homing”
If there are faults during homing:
} Fault handling: see example 3, Tab. 5/11.