6 Positioning mode
160 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English
Timing diagra m: Cancelling homing through an err or
The timing diagram shows as an example the cancellation of the homing process due to an error (e.g.
as a result of a following error).
Start positioning
(DIN8)[X1.23]
Stop
(DIN13)[X1.15]
Limit switch 0
(DIN6)[X1.22]
Limit switch 1
(DIN7)[X1.10]
Motion complete
(DOUT1)[X1.12]
Controller ready for operation
(DOUT0)[X1.24]
Common error
(DOUT3)[X1.13]
t1
t3
t2
“Search”
Error
Status wo rd referenced (FCT)
Homing complete
(DOUT…)[X1.…]
Velocity
v+
v–
3
1
2
t1 ≤ 5ms
t2 = … ms ( dependent on the acc eleration
ramp)
t3 = … ms ( dependent on the configuration
“error func tion” in the error management and
the corresponding parameter in the stop
deceleration)
1 Example: “Normally closed” limit switch type
2 Travel curve with “Positive limit switch”
homing methods
3 Travel curve with “Negative limit switch”
homing methods
Fig. 6.26 Timing diagram: Cancelling homing through an error
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