Festo Электромотор MTR-DCI - Manual (Page 149)

5. Commissioning
5-61
Festo P.BE-MTR-DCI-PB-EN en 1209a
Step/
Description Status bytes Control bytes Step/
Description
B0 B1 B2 B3 B4 B5 B6 B7 Byte B0 B1 B2 B3 B4 B5 B6 B7 Byte
7.6 Positioning task
interrupted (stroke
limit or software end
position reached) Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 1 x x 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 x 0 0 0 0 0 x 1 SPOS 1 0 0 0 0 1 x 1
Byte 3 FUNC FAST XUM – CONT COM2 COM1 ABS Byte 3 FUNC FAST XUM VUM CONT COM2 COM1 ABS
CDIR 0 0 S x 0 0 1 0 SDIR 0 0 1 0 0 0 0 0
7.7 End positioning
task (e.g. with STOP) Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 1 x x 0 x 0 1 SCON 0 1 0 1 0 0 0 1
Byte 2 – CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
CPOS x 0 0 0 0 0 x 1 SPOS 1 0 0 0 0 1 x 1
Byte 3 FUNC FAST XUM – CONT COM2 COM1 ABS Byte 3 FUNC FAST XUM VUM CONT COM2 COM1 ABS
CDIR 0 0 S x 0 0 1 0 SDIR 0 0 0 0 0 0 0 0
0: 0-signal; 1: 1-signal; x: not relevant (any); F: Edge positive
S: Path limitation (stroke limit): 0 = stroke limit active, 1 = stroke limit not active
Tab. 5/15: Control and status bytes for “Direct mode – Force mode”
Description for Force mode:
Once “ready to operate” is established and homing has been
carried out, a nominal value must be specified and the sys-
tem must be prepared for operation in Force mode.
7.1 Specify the nominal value in % of nominal motor cur-
rent.
7.2 Prepare Force mode: set bit CDIR.B1 COM1, and set bit
CDIR.B5 XLIM depending on the desired level of stroke
limitation.
7.3 Start the job with CPOS.B1 START. The start is con-
firmed with SPOS.B1 (acknowledge start) as long as
CPOS.B1 (START) is set.