Festo Контроллер позиционирования CPX-CMAX - Manual (Page 45)

2. I/O data and sequence control
2−17
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2.2.4 I/O data in direct operating mode
I/O data: Direct operating mode
Data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Output
data CCON CPOS CDIR Secondary
setpoint Primary setpoint
(position, force)
Input
data SCON SPOS SDIR Secondary
actual
value Primary actual value
(actual position, force)
Assignment of the control and status bytes (direct mode):
Assignment of the control bytes (direct mode)
CCON
Byte 1 B7
OPM2 B6
OPM1 B5
LOCK B4
ć
B3
RESET B2
BRAKE B1
STOP B0
ENABLE
y
Mode selection Block
software
access ć Reset
fault Release
brake Stop Enable
drive
CPOS
Byte 2 B7
ć
B6
CLEAR B5
TEACH B4
JOGN B3
JOGP B2
HOM B1
START B0
HALT
y
ć ć Teach
value Jog negaĆ
tive Jog posiĆ
tive Start
homing Start
positio−
ning task 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 Velocity
limit
reached Tracking
mode Control
mode 2
(profile) Control
mode 1
(position,
force) Absolute/
relative
SecondĆ
ary setĆ
point
Byte 4 Setpoint, depending on control mode and FHPP setting (PNU 523)
Ĉ Speed as percentage of default value (PNU 540)
Ĉ Force ramp as percentage of default value (PNU 550)
Ĉ Workpiece mass as percentage of default value (PNU 544 or PNU 551)
Value range 0 to 100, no sign given. Impermissible setpoint values are limited. For the
Workpiece mass" secondary setpoint, 100% of the basic value is always used for the
speed or force ramp.
The setpoint value is transferred to CPOS.START with a positive edge.
Primary
setpoint
Bytes
5 to 8 Setpoint value of the position or force in the set system of units (section B.1).
The setpoint value is transferred to CPOS.START with a positive edge.
During tracking mode, the setpoint position is transferred continuously after the start until
tracking mode is ended.