Festo Контроллер позиционирования CPX-CMAX - Manual (Page 135)

3. Drive functions
3−73
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3.4.2 Continuous setpoint specification (tracking mode)
Setpoint value
Output data
Start
CPOS.START
Acknowledge Start
SPOS.ACK
Motion Complete
SPOS.MC
N − 1 N N +
20
1
0
1
0
1
0
1
0
N +
21
1 2 3 4
Continuous setpoint specification active
N + 1 N +
19
Fig. 3/12: Start the positioning task
1 Set the desired setpoint value (position, force) and the
speed setpoint in the output data of the PLC.
2 If SPOS.ACK = logic 0 1, the PLC can start the continuous
setpoint value mode with the rising edge at CPOS.START
2. The CMAX accepts the currently registered setpoint
value and the speed setpoint and starts the positioning
task.
3 As long as CPOS.START = 1, the setpoint value can be
changed at any time. The CMAX makes the axis position
follow the setpoint value and takes the set accelerations
and speeds into account.
4 The setpoint tracking is ended 4 with a falling edge at
CPOS.START 3.
The drive is stopped with a stop ramp.