Festo Электроцилиндр User Manual

Page 66

Commissioning

Festo – GDCP-CMMO-ST-EA-SY-EN – 1301a – English

5.5.3

Properties of the binary profile (31)

31 command records

31 command records can be selected via 5 inputs (plus record 0 = homing).

These 31 command records can be positioning records, force records or speed records.

Jogging

By using manual “jogging” (i.e. setting a particular input signal at the I/O interface) a position can be

approached, which is then transferred to an absolute position record by “teaching”.

Teaching

When teaching via the I/O interface you can set whether the value is stored permanently or only

temporarily until the next restart procedure (FCT: “Digital I/O”, “Automatic storage” page).

Teaching via the I/O interface is only intended for commissioning; the flash memory is

not suitable for

permanent teaching during operation (

section 2.4.11).

Record linking

When a step enabling condition occurs, another record is automatically started after the end of the

current record (

section 5.8).

Record switching

While a command record is being executed, another command record can be switched to at any time;

in this process the higher-order controller (PLC) pre-selects a new command record and sends a new

START signal (

section 5.7).

Pause (intermediate stop)

An “intermediate stop” is triggered on the CMMO-ST via the

I/O interface. This works as follows:

1. If the signal at digital input no. 7 “PAUSE” is removed during a record (= physical 0 signal), the drive

brakes at the braking ramp that has been parameterised for this record and remains stationary. The

record remains active, “Motion complete” is not set.

2. A renewed setting of input no. 7 initially has no effect on the behaviour of the drive. The drive con-

tinues to remain stationary.

3. A new START signal results in the record running to the end.

4. If another record has been selected at the inputs after step 2, this is ignored.

5. If the RESET input is set after step 2, “Motion complete” appears, as the record is considered com-

pleted. If a new record is then selected and START is set, the new record is executed.