Festo Электромотор MTR-DCI - Manual (Page 142)

5. Commissioning
5-44
Festo P.BE-MTR-DCI-DN-EN en 1209a
2. Direct task: establish “ready to operate” status
2.1 Basic status of the drive when the supply voltage is
switched on.
} Step 2.2 or 2.3
2.2 Disable device control by FCT/HMI.
Optionally, the takeover of device control by FCT/HMI
can be blocked with CCON.B5 = 1 (LOCK).
} Step 2.3
2.3 Enable drive. (Direct Task)
} Homing: example 4, Tab. 5/12.
Step/
Description O data I data
Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0
2.1 Basic status
(HMI device control =
off )
Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 0 0 0 0 x 0 0 SCON 0 0 0 1 0 0 0 0
Byte 2 – CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
CPOS 0 0 0 0 0 0 0 0 SPOS 0 0 0 0 0 1 0 0
2.2 Disable device
control by FCT/HMI Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON x x 1 0 x x x x SCON x x 0 x x x x x
Byte 2 – CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
CPOS 0 x x x x x x x SPOS x x x x x x x x
2.3 Enable drive,
enable operation
(Direct Task)
Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 1 x 0 0 x 1 1 SCON 0 1 0 1 0 0 1 1
Byte 2 – CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
CPOS 0 0 0 0 0 0 0 1 SPOS 0 0 0 0 0 1 0 1
0: 0 signal 1: 1 signal; x: not relevant (any); F: Edge positive
Tab. 5/10: Control and status bytes for “Establish 'ready to operate' status – Direct task”
If there are faults after switching on or after setting CCON.B0
(ENABLE):
} Fault handling: see example 3, Tab. 5/11.