Festo Контроллер позиционирования CPX-CMAX - Manual (Page 50)

2. I/O data and sequence control
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Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Status byte 3 (SDIR) ć direct mode
Bit EN Description
B0
ABS Absolute /
Relative = 0: Setpoint value is absolute
= 1: Setpoint value is relative to last setpoint value
B1
COM1 Control Mode
feed back
1
= 0: Position control active
= 1: Force control active
B2
COM2 Control Mode
feed back
2
For position control only (COM1=0):
= 0: Free profile
= 1: Automatic profile
B3
CONT Continous
tracking mode Continuous tracking mode acknowledgment (continuous setpoint
specification):
= 0: Continuous tracking mode inactive
= 1: Continuous tracking mode active
B4
VLIM Velocity ( V−)
Limit reached
For force control only:
= 0: Speed limit not reached
= 1: Speed limit reached
B5
XLIM Stroke ( X−)
Limit reached
For force control only:
= 1: Stroke limit not reached
= 0: Stroke limit reached, fault is signaled.
B6
FAST Fast stop = 0: Exact stop is active
= 1: Fast stop is active, fault is signaled
B7
ć
ć Reserved (= 0).
The SDIR status byte is the acknowledgement of positioning
mode in direct mode. All bits except for B0 (ABS) and B6
(FAST) are reset at the START and then updated dynamically.