Festo Электромотор MTR-DCI User Manual

Page 142

5. Commissioning

5-44

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

CPOS

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

Control byte 2 (CPOS)- Record select and Direct mode

Bit

Description

B0
HOLD

Hold

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

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

B1
START

Start positio-
ning task

With a

rising edge the current nominal values will be transferred and

positioning started (record 0 = reference travel).

B2
HOM

Start

homing

With a

rising edge homing is started with the set parameters.

B3
JOGP

Jog positive

The drive moves at the specified velocity or rotational speed in the direc-
tion of larger actual values, providing the bit is set. The movement be-
gins with the rising edge and ends with the falling edge.

B4
JOGN

Jog negative

The drive moves at the specified velocity or rotational speed in the direc-
tion of smaller 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 remai-
ning position

In the “Hold” status a

rising edge causes the positioning task to be

deleted and transfer to the status “Ready.”

B7
–

–

reserved
:=0