Festo Контроллер позиционирования CPX-CMAX - Manual (Page 48)

2. I/O data and sequence control
2−20
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
CDIR Control byte 3 (CDIR) is a special control byte for the
operating mode direct mode.
Control byte 3 (CDIR) ć direct mode
Bit EN Description
B0
ABS Absolute /
Relative = 0: Setpoint is absolute (relative to the project zero point)
= 1: Setpoint value is relative to last setpoint/actual value
1)
B1
COM1 Control Mode 1 = 0: Position control
= 1: Force control
B2
COM2 Control Mode 2 For position control only (COM1=0):
= 0: Free profile: Speed and acceleration are freely specified
= 1: Automatic profile: Speed and accelerations are specified by the
controller 2)
A fault is signaled for logic 1 when force control is active.
B3
CONT Continous
(Tracking)
Mode For position control: Activates continuous tracking mode (continuous
setpoint specification):
= 0: Do not activate tracking mode
= 1: Activate tracking mode
B4
VLIM Speed ( V) Limit
OFF
For force control:
= 0: Activate speed limit
= 1: Deactivate speed limit
B5
XLIM Stroke ( X−)
Limit OFF
For force control:
= 0: Activate stroke monitoring
= 1: Deactivate stroke monitoring
B6
FAST Fast stop Control for reaching the target setpoint value: 3)
= 0: Exact stop
= 1: Fast stop
B7
ć
ć Reserved, must be set to 0.
A warning is signaled for logic 1.
1) The setpoint is relative to the last setpoint (if MC) or the actual value (if no MC).
Force tasks following positioning tasks refer to force 0.
2) Speed and accelerations are selected by the controller according to the identification so that the
target position is reached as quickly as possible without overshooting.
3) See section 3.1.4. SPOS.MC is only set when the job is completed according to the quality class.
In the event of a fast stop, the standstill monitoring is deactivated.