Festo Электромотор MTR-DCI - Manual (Page 161)

5. Commissioning
5-63
Festo P.BE-MTR-DCI-CO-EN en 1209a
Overview of parameters involved (see also section B.2.15)
Parameters involved Description FCT PNU CO/CI
Offset axis zero point x 1010 607Ch
Reference travel method x 1011 6098h
Reference travel speeds x 1012 6099h
Reference travel required – 1014 23F6h
Reference travel maximum torque x 1015 23F7h
Start (FHPP) CPOS.B2 = positive edge: Start reference travel
Reply message (FHPP) SPOS.B1 = positive edge: Quit Start
SPOS.B7 = drive referenced
Requirement Device control by PLC/field bus
Controller must be in status “Operation enabled”
There must not be any command for jogging
Tab. 5/15: Parameters involved in reference travel
Reference travel methods
1)
hex dec. Description
17h 23 Search for reference switch in positive direction.
1Bh 27 Search for reference switch in negative direction.
EFh -17 Search for negative stop. The point found is the reference position. As the
axis must not stand still at the stop, the offset axis zero point must be ≠ 0.
EEh -18 Search for positive stop. The point found is the reference position. As the
axis must not stand still at the stop, the offset axis zero point must be ≠ 0.
1)
Detailed description of the reference travel methods see section 1.6.3.
Tab. 5/16: Overview of reference travel methods