Operating Mode Homing (Homing Mode) - Festo CiA 402 Manual

6 Operating modes
Value Meaning
-1 Invalid operating mode or change in operating mode
-11 User Position Mode
-12 Internal speed adjustment without setpoint ramp (closed-loop operation)
-13 User Velocity Mode
-14 User Torque Mode
-15 Internal position control (regulated and controlled)
1 Profile Position Mode (position controller with positioning mode)
2 Velocity Mode (speed regulator without setpoint ramps)
3 Profile Velocity Mode (speed regulator with setpoint ramps)
4 Profile Torque Mode (torque controller with setpoint ramp)
6 Homing Mode (homing)
7 Interpolated Position Mode
The operating mode can only be set via the object modes_of_operation. Since a change in
operating mode can take some time, one must wait until the newly selected mode ap-
pears in the object modes_of_operation_display. During this time, "Invalid operating
mode" (-1) may be displayed briefly.
6.2

Operating mode homing (homing mode)

6.2.1 Overview
This chapter describes how the motor controller searches for the initial position (also called point of
reference, reference point or zero point). The limit switches at the end of the positioning range, a stop
or the actual position can be used to determine this position. To achieve a level of accuracy that is as
high as possible, the zero pulse of the angle encoder used (Endat, incremental encoder, etc.) can be
included for some methods.
controlword
homing_method
homing_speeds
homing_acceleration
homing_offset
Fig. 6.1 Homing
The user can determine the speed, acceleration and type of homing. With the object home_offset, the
zero position of the drive can be displaced to any position desired.
106
Homing
statusword
position_demand_value
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English