Control Of Homing - Festo CiA 402 Manual

6 Operating modes
Method 34: Homing in a positive direction to the zero pulse
When using method 34, the direction of homing is positive. The zero position refers to the first zero
pulse from the angle encoder in the direction of search.
Index pulse
Fig. 6.12 Homing in a positive direction to the zero pulse
Method 35: Homing to the current position
With method 35, the zero position refers to the current position.
Fig. 6.13 Homing to current position
6.2.4

Control of homing

Homing is controlled and monitored through the controlword/statusword. The start is made by setting
bit 4 in the controlword. Successful completion of the travel is shown by a set bit 12 in the object
statusword. A set bit 13 in the object statusword shows that an error has occurred during homing. The
cause of the error can be determined via the objects error_register and pre_defined_error_field.
Bit 4 Meaning
1 Homing is not active
0 1 Start homing
1 Homing is active
1 0 Homing interrupted
Tab. 6.1 Description of the bits in the controlword
Bit 13 Bit 12
0 0
0 1
1 0
1 1
Tab. 6.2 Description of the bits in the status word
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Meaning
Homing is not yet complete
Homing performed successfully
Homing not performed successfully
prohibited status
113