7 Operating modes
184 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English
Homing methods
hex Descriptiondec
E9h -23 Reference switch in positive direction with travel
to stop or limit switch.
1. Run at search velocity in positive direction to
stop or limit switch.
2. Travel at search velocity in negative direction
to the reference switch.
3. Travel at crawling velocity in negative direction
until the reference switch becomes inactive.
This position is taken as the homing point.
4. If this is parameterised: travel at positioning
velocity to the axis zero point.
Reference
switch
E5h -27 Reference switch in negative direction with
travel to stop or limit switch
1. Run at search velocity in negative direction to
stop or limit switch.
2. Travel at search velocity in positive direction
to the reference switch.
3. Run at crawling velocity in positive direction
until reference switch becomes inactive. This
position is taken as the homing point.
4. If this is parameterised: travel at positioning
velocity to the axis zero point.
Reference
switch
1) Only possible for motors with encoder/resolver with index pulse.
2) Limit switches are ignored during travel to the stop.
3) Since the axis is not to remain at the stop, the travel to the axis zero point must be parameterised and the axis zero point offset
must be ≠ 0.
Tab. 7.1 Overview of homing methods
7.2.4 Control of Reference Travel
Homing is controlled and monitored through the controlword / statusword. The start is made by setting
bit 4 in the controlword. Successful completion of the travel is shown by a set bit 12 in the object
statusword. A set bit 13 in the object statusword shows that an error has occurred during homing. The
cause of the error can be determined via the objects error_register and pre_defined_error_field.
Bit 4 Significance
1 Reference travel is not active
0 1 Start Homing
1 Reference travel is active
1 0 Reference travel interrupted
Tab. 7.2 Description of the bits in the controlword
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