Festo Электромотор MTR-DCI - Manual (Page 147)

5. Commissioning
5-49
Festo P.BE-MTR-DCI-CO-EN en 1209a
5.5.7 Examples of the I/O data
On the following pages you will find typical examples of the
I/O data as per FHPP Standard.
1. Record select: Create readiness to operate
2. Direct mode Create readiness to operate
3. Error treatment
4. Homing
5. Record select: Positioning mode
6. Direct mode Positioning mode
7. Direct mode Power operation
A description of the status machine of the MTR-DCI can be
found in section B.3.
Safeguard device control
Step/
Description Output data Input data
Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0
0.1 device control
HMI = on Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL
E
Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
E
CCON 0 0 0 0 0 x 0 0 SCON 0 0 1 1 0 0 0 0
Byte 2 – CLEAR TEACH JOGN JOGP HOM START HOLD Byte 2 REF STILL DEV MOV TEACH MC ACK HOLD
CPOS 0 0 0 0 0 0 0 0 SPOS 0 0 0 0 0 1 0 0
0: 0-signal 1: 1-signal; x: not relevant (optional); F: Edge positive
Tab. 5/7: I/O data “Device control active”
Device control via the control panel or the Festo Configuration
Tool is activated. To control the MTR-DCI via the CANopen in-
terface, device control must first be deactivated by FCT/MMI.