Instruction Manual

5. Commissioning
5−54
Festo P.BE−GDCP−SFC−LACI−PB−E N en 0812NH
4. Reference travel (requires status 1.4 or 1.5)
Step/
Diti
Control bytes Status bytes
Description
Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0
4.1 Start homing
Byte 1 OPM2 OPM1 LOCK  RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL
4
.
1
Start
homing
CCON 0 x x x 0 0 1 1 SCON 0 x 0 1 0 0 1 1
Byte 2  CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
CPOS x 0 0 0 0 F 0 1 SPOS 0 0 0 0 0 0 1 1
4.2 Homing running
Byte 1 OPM2 OPM1 LOCK  RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL
4
.
2
Homing
running
CCON 0 x x x 0 0 1 1 SCON 0 x 0 1 0 0 1 1
Byte 2  CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
CPOS x 0 0 0 0 1 0 1 SPOS 0 0 0 1 0 0 1 1
4.3 Homing finished
Byte 1 OPM2 OPM1 LOCK  RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL
4
.
3
Homing
finished
CCON 0 x x x 0 0 1 1 SCON 0 x 0 1 0 0 1 1
Byte 2  CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
CPOS x 0 0 0 0 0 0 1 SPOS 1 0 0 0 0 1 0 1
0: 0−signal; 1: 1−signal; x: not relevant (optional); F: Edge positive
Tab.5/10: Control and status bytes Reference travel"
Description on 4. Homing run
4.1 A positive edge at CPOS.B2 HOM starts the reference
travel. The start is confirmed with SPOS.B1 CK
(Acknowledge start) as long as CPOS.B2 HOM is set.
4.2 Movement of the axis is shown with SPOS.B4 MOV.
4.3 After successful reference travel SPOS.B2 MC
(MotionComplete) and
SPOS.B7 REF will be set.
If there are faults during homing:
} Fault handling: example 3, Tab.5/9