Festo Электромотор MTR-DCI - Manual (Page 160)

5. Commissioning
5-62
Festo P.BE-MTR-DCI-CO-EN en 1209a
5.6 Sequence control as per FHPP standard
5.6.1 Homing
Information on homing (reference travel), reference coordi-
nates and work range and calculation rules in the measuring
reference system can be found in chapter 1.6.
When the device is switched on, reference travel (homing)
must be carried out before a positioning task can be ex-
ecuted (compare parameter “Reference travel required.”
FHPP 1014/CANOPEN/CI 23F6h)
The drive references against a stop or a reference switch.
A stop is reached when there is an increase in the motor cur-
rent at the same time as the drive shaft comes to a stand.
As the drive must not position continuously against the stop,
it must move at least 0.25 mm into the stroke range again
(offset axis zero point).
Sequence:
1. Search for the reference point in accordance with the
configured method.
2. Move from reference point to axis zero point (corresponds
to offset axis zero point AZ)
3. Set at axis zero point:
Current position = 0 – offset project zero point PZ