Festo Электромотор MTR-DCI - Manual (Page 147)

5. Commissioning
5-59
Festo P.BE-MTR-DCI-PB-EN en 1209a
Description for Direct mode – position mode:
(step 6.1 ... 6.4 conditional sequence)
Once “ready to operate” is established and homing has been
carried out, a nominal position must be preselected.
6.1 The nominal position is transferred in increments in
bytes 5...8 of the output word.
The nominal speed is transferred in % in byte 3
(0 = no speed; 100 = max. speed).
6.2 With CPOS.B1 START (start positioning job) the
preselected positioning job will be started. The start is
confirmed with SPOS.B1 (acknowledge start) as long as
CPOS.B1 (START) is set.
6.3 Movement of the axis is shown with SPOS.B4 (MOV,
Axis is moving).
6.4 At the end of the positioning task, SPOS.B2 (MC,
Motion Complete) is set.
If there are faults during positioning:
} Fault handling: see example 3, Tab. 5/11.