8. Operating modes
162 Festo P.BE-CMMP-CO-SW-EN 0708NH
8.2.3 Reference Travel Processes
The various homing run methods are depicted in the following illustrations. The circled
numbers correspond to the code to be entered in the object homing_method.
Method 1: Negative limit switch with zero pulse evaluation
With this method, the drive first moves relatively quickly in a negative direction until it
reaches the negative limit switch. This is depicted in the diagram through the rising edge.
After that, the drive moves back slowly and searches for the exact position of the limit
switch. The zero position refers to the first zero pulse of the angle transmitter in the
positive direction from the limit switch.
Fig. 8.3: Reference travel to the negative limit switch with evaluation of the zero pulse
Method 2: Positive limit switch with zero pulse evaluation
With this method, the drive first moves relatively quickly in a positive direction until it
reaches the positive limit switch. This is depicted in the diagram through the rising edge.
After that, the drive moves back slowly and searches for the exact position of the limit
switch. The zero position refers to the first zero pulse of the angle transmitter in the
negative direction from the limit switch.
Fig. 8.4: Reference travel to the positive limit switch with evaluation of the zero pulse
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