Festo Электромотор MTR-DCI User Manual

Page 135

5. Commissioning

5-37

Festo P.BE-MTR-DCI-DN-EN en 1209a

CPOS

Control byte 2 (CPOS) controls the positioning sequences as
soon as the drive is enabled.

Control byte 2 (CPOS) – Record selection and direct task

Bit

Description

B0
HALT

Halt

= 1: “Halt” is not active.
= 0: “Halt” activated (braking ramp + do not cancel positioning task).

The axis stops with a defined braking ramp; the positioning task
remains active (the remaining positioning can be deleted with B6).

B1
START

Start Posi-
tioning Task

The current nominal values will be transferred and positioning started
(record 0 = homing) by means of a

rising edge.

B2
HOM

Start

Homing

Homing with the defined parameters is started by means of a

rising

edge.

B3
JOGP

Jog positive

The drive moves at the specified speed or rotational speed towards
larger actual values, while the bit is set. The movement begins with the
rising edge and ends with the falling edge.

B4
JOGN

Jog negative

The drive moves at the pre-set speed (rotation) towards lower actual
values; see bit 3.

B5
TEACH

Teach actual
value

At a

falling edge the current actual position is imported into the setpoint

B6
CLEAR

Clear
remaining
positioning
path

In the “Halt” state a

rising edge causes the positioning task to be

cleared and a transition to the “Ready” state

B7
–

–

Reserved
: =0