Homing Processes - Festo CiA 402 Manual

6 Operating modes
Object 609A : homing_acceleration
h
The object homing_acceleration determines the acceleration that is used during homing for all acceler-
ation and braking processes.
Index
Name
Object Code
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
6.2.3

Homing processes

The various homing methods are depicted in the following illustrations.
Method –18: Homing to the positive stop
With this method, the drive moves in the positive direction until it reaches the stop. The stop is detec-
ted via a parameterisable current threshold, which can be set with the parametrisation tool FCT in % of
the nominal current. The stop must be mechanically dimensioned so that it does not suffer damage in
the parametrised maximum current. The zero position refers directly to the stop.
Fig. 6.3 Homing to the positive stop
Method –17: Homing to the negative stop
With this method, the drive moves in the negative direction until it reaches the stop. The stop is detec-
ted via a parameterisable current threshold, which can be set with the parametrisation tool FCT in % of
the nominal current. The stop must be mechanically dimensioned so that it does not suffer damage in
the parametrised maximum current. The zero position refers directly to the stop.
Fig. 6.4 Homing to the negative stop
Method –2: Positive stop with zero pulse evaluation
With this method, the drive moves in the positive direction until it reaches the stop. The stop is detec-
ted via a parameterisable current threshold, which can be set with the parametrisation tool FCT in % of
the nominal current. The stop must be mechanically dimensioned so that it does not suffer damage in
110
609A
h
homing_acceleration
VAR
UINT32
rw
yes
acceleration units
–
80000
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English