3. Drive functions
3−37
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3.2.3 Homing sequence and parametrisation
The drive references with respect to a stop (or the current
actual position).
Sequence (does not apply to referencing at the actual
position):
1. Reset the homing status to Homing not executed".
2. Search for the reference point (mechanical stop).
3. Wait for standstill for 500 ms. Afterwards, the pressurized
cylinder chamber must have a chamber pressure
measur
ing at least 2/3 of the set operating pressure.
4. Determine the axis zero point/cylinder zero point by
setting the corresponding offset to the reference point
(current position = 0 + project zero point offset).
5. After reaching the stop, the CMAX sets the status
SPOS.REF = 1. The end of homing is signalised
afterwards
with SPOS.MC.
Overview of parameters involved (see also section 5.4.12)
Parameters involved Description PNU
Axis zero point offset 1130
Homing method (permissible: −18, −17, 35) 1131
Homing speed 1132
Start (FHPP) CPOS.HOME = positive edge: Start homing
Acknowledgement
(FHPP)
SPOS.ACK = positive edge: Acknowledge Start
SPOS.MC = 1: Movement completed
SPOS.REF = 1: Drive referenced
Tab.3/13: Parameters involved in homing
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