Festo Контроллер позиционирования CPX-CMAX - Manual (Page 133)

3. Drive functions
3−71
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3 After resetting CPOS.START and the acknowledgement
SPOS.ACK = 0, a new setpoint value can be started at any
time.
There is no need to wait for MC.
The CMAX internally calculates tne necessary steps to
execute the new positioning task. If a change of direction
is required, for example, the drive is first braked until
speed = 0 is reached. Only then is the new setpoint posiĆ
tion transferred to the controller. No fault message is genĆ
erated.
4 Once the last setpoint position is reached,
MC SPOS.MC = 1 is set.
Notes:
ć As soon as the PLC detects the rising edge at SPOS.ACK, it
can assume that MC is valid. From the PLC’s point of view,
the falling edge at MC can occur at the same time as the
rising edge at ACK.
ć In the event of faults, the task might not be acknowledged
with SPOS.ACK. For this reason, the SCON.FAULT bit must
always be evaluated in addition.