Festo Электромотор MTR-DCI - Manual (Page 147)

5. Commissioning
5-49
Festo P.BE-MTR-DCI-DN-EN en 1209a
Step/
Description O data I data
Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0
5.1 Preselect record
number (Byte 3) Byte 3 Record number Byte 3 Record number
Record
no.
Record no. (0...31) Record
no.
Previous record no. (0...31)
5.2 Start task Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 0 x 0 0 x 1 1 SCON 0 0 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 F 1 SPOS 1 0 0 0 0 0 1 1
5.3 Positioning task
in progress Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 0 x 0 0 x 1 1 SCON 0 0 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 1 1 SPOS 1 0 0 1 0 0 1 1
Byte 3 Record number Byte 3 Record number
Record
no.
Record no. (0...31) Record
no.
Current record no. (0...31)
5.4 Positioning task
concluded Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 0 x 0 0 x 1 1 SCON 0 0 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 1 0 0 0 0 1 0 1
Byte 5...8 Reserved Byte 5...8 Position
– Reserved Actual
posi-
tion Actual position (increments)
0: 0 signal 1: 1 signal; x: not relevant (any); F: Edge positive
Tab. 5/13: I/O data “Record selection: Positioning mode”