Festo EMCS-ST - Homing with end position determination

Festo — EMCS-ST — 2021-03b
Drive system
61
From "active posi-
tioning task"
After "stop positioning task or switch off output stage"
Move... Stop (output stage
active)
Switch off output stage
DIO
–
DI1/2 = 0/0
DIO
–
DI1/2 = 1/1
–
IO-Link
–
0x0029.1/2/5
= false/false/false
–
0X0002 = 0xCA
IO-Link
–
0x0029.1/2/5
³ 2 x true
IO-Link
–
0X0002 = 0xCB
Start
Out
DIO
–
DI1/2 = 0/1
IO-Link
–
0x0029.1/2/5
= false/true/false
–
0X0002 = 0xC9
20 ms 3 s 20 ms
Start
Intermediate
IO-Link
–
0x0029.1/2/5
= false/false/true
–
0X0002 = 0xD0
20 ms 3 s 20 ms
Tab. 30: Activation times for the dynamic status change to standstill
10.3.2
Homing with end position determination
10.3.2.1 Function
The connected drive must be homed to a dimension reference system in order to be able to approach
the "In/Out end positions or intermediate position" positions.
The factory settings for the reference end positions are:
– Linear drive: reference end position "Ref" facing motor
– Rotary drive: left reference end position "Ref"
Homing of the drive includes:
–
Homing with end position determination
– Linear drive: determining the maximum stroke
– Rotary drive: determine the maximum swivel range
–
Definition of the dimension reference system
–
Definition of motion directions
– Definition of display or status information