Festo Электромотор MTR-DCI - Manual (Page 35)

1. System overview
1-15 Festo P.BE-MTR-DCI-PB-EN en 1209a
1.5.3 Reference travel
In the case of drives with incremental measuring system, a
reference travel must always be carried out after the drive is
switched on. This is defined drive-specifically with the para-
meter “Reference travel required” (PNU 1014, CI 23F6h).
The following reference travel modes are permissible:
– 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 (de-
fault).
In order to search for the reference point and for positioning
the drive in the axis zero point, you can set two different
speeds.
Reference travel sequence:
1. Search for the reference point in accordance with the con-
figured method
2. Move from reference point to axis zero point AZ (axis zero
point offset)
3. Set at axis zero point:
Current position = 0 – project zero point PZ offset
After successful reference travel, the drive stands at the axis
zero point AZ. On initial start-up or following a change of ref-
erence travel method the axis zero offset = 0; after reference
travel the drive is then positioned at the reference point REF.