6Functions
Festo – GDCP-CMMP-M0-FW-E N – 1304N H 37
6.2.3 Homing parameters
The following parameters must be set for homing:
Parameter
Description
Speed The parameter setting applies for:
– Searching travel to the primary destination
– Crawl travel for identification of the switching point in the homing method
“Limit switc h” or “reference switch”
– Travel to the axis zero point.
Acceleration/
delay
Smoothing
Axis zero point Definition of the axis zero point
Default values as a function of the set search direction
Linear axes ±3.00 mm (±0.100 in)
A xis of rotation ±10° (±0.030 R)
Tab. 6.9 Homing parameters
– Select the speed so that the reference mark c an be detected by the controller. This
sometimes requires very low travel speeds.
– Set deceleration suffic iently high so that the motor controller does not overrun the
targets too much during search travel.
6.2.4 Secure zero point s hift
Single-turn encoders that are set to permanently homed are already permanently homed on delivery.
The absolute zero point is stored by the manufacturer in the EEPROM of the encoder.
Note
Incorrect positioning of the axis.
Drives with absolute value encoders are always homed at switch-on to the absolute
encoder zero point stored in the encoder. For comparison between the homing point of
the c urrent measuring reference system and the mounting-related absolute zero point
of the motor encoder, the resulting offset in the EEPROM of the encoder must be stored.
The value is used for conversion of the actual position measured by the encoder.
• Carry out homing first
• Observe the subsequent spe cial features for saving the zero offset.
Multi-turn encoder
Absolute value encode r s supply directly after switch-on an absolute position that is unique throughout
the entire travel distance of an axis. Such an enc oder is calibrated on the measuring reference system
one time through homing and through a position offset stored in the E EPROM of the enc oder ( saving
the zero point offset).
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