Festo Электромотор MTR-DCI - Manual (Page 131)

5. Commissioning
5-33
Festo P.BE-MTR-DCI-DN-EN en 1209a
Allocation of the control bytes (overview)
1)
CCON B7
OPM2 B6
OPM1 B5
LOCK B4
– B3
RESET B2
BRAKE B1
STOP B0
ENABLE
Operating mode
selection MMI
access
Blocked – Acknow-
ledge
fault – Stop Enable
drive
CPOS B7
– B6
CLEAR B5
TEACH B4
JOGN B3
JOGP B2
HOM B1
START B0
HALT
– Delete
remaining
position Teach
value Jog nega-
tive Jog posi-
tive Start
homing Start
posi-
tioning
task Halt
CDIR
(direct
task
only)
B7
FUNC B6
FAST B5
XLIM B4
VLIM B3
CONT B2
COM2 B1
COM1 B0
ABS
– – Deactivate
stroke
limit – – Control mode
(position, force/
torque, ...) Absolute/
Relative
1)
– : Reserved
Allocation of the status bytes (overview)
1)
SCON B7
OPM2 B6
OPM1 B5
LOCK B4
24VL B3
FAULT B2
WARN B1
OPEN B0
ENABLED
Operating mode
acknowledgement FCT/HMI
device
control Load
voltage
applied Fault Warning Operation
enabled Drive
enabled
SPOS B7
REF B6
STILL B5
DEV B4
MOV B3
TEACH B2
MC B1
ACK B0
HALT
Drive
homed Standstill
moni-
toring Following
error Axis is
moving Acknow-
ledge
teaching Motion
complete Acknow-
ledge
start Halt
SDIR
(direct
task
only)
B7
FUNC B6
FAST B5
XLIM B4
VLIM B3
CONT B2
COM2 B1
COM1 B0
ABS
– – Stroke
limit
reached Speed
limit
reached – Control mode feed-
back (position, force/
torque, ...) Absolute/
Relative
1)
– : reserved.