Festo EMCS-ST - Page 50

50
Festo — EMCS-ST — 2021-03b
Drive system
Re-initialise reference end position "Ref"
The homing of the reference end position is lost on Power OFF of the logic voltage L
+
[Logic, Pin 1].
After every restart the position of the reference end position "Ref" is re-initialised at the "Speed Ref"
velocity with the first motion task.
Homing after a restart as a function of the positioning task
Sequence
–
Mov
Ref
: force-controlled movement against mechanical stop "Mech
In
"
–
Mov
Out
: position-controlled movement to the reference end position "Ref"
–
Travel to the target position as a function of the positioning task
–
No travel, end position "Lim
In
" reached
–
Mov
Out
: position-controlled movement to the end position Lim
Out
–
Mov
Imp
: position-controlled travel to the intermediate position Lim
Imp
(IO-Link only)
Start
In
positioning task to the end position Lim
In
Start
Out
positioning task to the end position Lim
Out