User Manual

5. Commissioning
5−56
Festo GDCP−SFC−LACI−DN−EN en 0812NH
5.6 Drive functions
The necessary FHPP parameter numbers (PNU) will be
specified for each drive function. The relevant DeviceNet
parameters (class, attribute, instance) can be found in the
detailed descriptions of the PNUs in section B.4.
5.6.1 Homing
When the device is switched on, homing must be carried out
before a positioning task can be executed.
The drive homes against a stop
or a proximity sensor. A stop
is reached when there is an increase in the motor current at
the same time as the drive shaft comes to a stop. As the drive
must not position continuously against the stop, it must move
at least 1 mm into the stroke range again (offset
axis zero
point).
Sequence
1. Search for the reference point in accordance with the
configured method.
2. Move from reference point to axis zero
point
(offset axis zero point).
3. Set at axis zero point:
Actual position = 0  project zero point offset (i.e. PZ).