Festo Контроллер позиционирования CPX-CMAX - Manual (Page 98)

4. Commissioning
4−20
Festo P.BE−CPX−CMA X−SYS−EN en 0908NH
4.5.3 Controlling the CMAX in direct operating mode
I/O data: Direct mode
Data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
O data CCON CPOS CDIR Secondary
setpoint Primary setpoint
(position, force)
I data SCON SPOS SDIR Secondary
actual
value Primary actual value
(actual position, actual force)
Allocation of the control bytes (overview)
CCON
Byte 1 B7
OPM2 B6
OPM1 B5
LOCK B4
ć B3
RESET B2
BRAKE B1
STOP B0
ENABLE
y
To select the operatĆ
ing mode, see
Tab. 4/3 Software
access
blocked ć AcknowĆ
ledge
malfuncĆ
tion Release
brake Stop Enable
drive
CPOS
Byte 2 B7
ć B6
CLEAR B5
TEACH B4
JOGN B3
JOGP B2
HOM B1
START B0
HOLD
y
ć ć Teach
value Jog,
negative Jog, posiĆ
tive Start
homing Start
positionĆ
ing job ć
CDIR
Byte 3 B7
ć B6
FAST B5
XLIM B4
VLIM B3
CONT B2
COM2 B1
COM1 B0
ABS
y
ć Exact
stop, fast
stop DeactiĆ
vate
stroke
limit Speed
limit reĆ
ached Tracking
mode Control
mode 2
(profile) Control
mode 1
(position,
force) Absolute
/relative
SecondĆ
ary setĆ
point Byte 4: Setpoint value, depending on the control mode and FHPP setting (PNU 523)
Ĉ Speed in percentage of the set value (PNU 540)
Ĉ Force ramp in percentage of the set value (PNU 550)
Ĉ Mass in percentage of the set value (PNU 544 or PNU 551).
Primary
setpoint Byte 5 ... 8: Setpoint value of the position or force in the configured system of units,
depending on the control mode.