Festo Электромотор MTR-DCI - Manual (Page 152)

5. Commissioning
5-54
Festo P.BE-MTR-DCI-CO-EN en 1209a
4. Reference travel (requires status 1.4 or 1.5)
4.1 A positive edge at CPOS.B2 (HOM, Start homing) starts
reference travel. 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 moves).
4.3 After successful reference travel SPOS.B2 (MC, Motion
Complete) and SPOS.B7 (REF) will be set.
Step/
Description Output data Input data
Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0
4.1 Start reference
travel Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL
E
Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
E
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 HOLD Byte 2 REF STILL DEV MOV TEACH MC ACK HOLD
CPOS 0 0 0 0 0 F 0 1 SPOS 0 0 0 0 0 0 1 1
4.2 Reference travel
runs Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL
E
Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
E
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 HOLD Byte 2 REF STILL DEV MOV TEACH MC ACK HOLD
CPOS 0 0 0 0 0 1 0 1 SPOS 0 0 0 1 0 0 1 1
4.3 Reference travel
concluded Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL
E
Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
E
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 HOLD Byte 2 REF STILL DEV MOV TEACH MC ACK HOLD
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 (optional); F: Edge positive
Tab. 5/11: I/O data “Reference travel”
If there are faults during reference travel:
} Error treatment: see example 3, Tab. 5/10.