Festo Электромотор MTR-DCI - Manual (Page 149)

5. Commissioning
5-51
Festo P.BE-MTR-DCI-CO-EN en 1209a
2. Direct mode Create readiness to operate
2.1 Basic status of the drive when the supply voltage has
been switched on.
} Step 2.2 or 2.3
2.2 Disable device control by FCT/MMI.
Optionally, assuming of device control by the FCT/MMI
can be disabled with CCON.B5 = 1 (LOCK).
} Step 2.3
2.3 Enable drive. (Direct mode)
} Reference travel: Example 4, Tab. 5/11.
Step/
Description Output data Input data
Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0
2.1 Basic status
(device control HMI =
off )
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 0 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
2.2 Disable device
control by FCT/MMI Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL
E
Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
E
CCON x x 1 0 x x x x SCON x x 0 x x x x x
Byte 2 – CLEAR TEACH JOGN JOGP HOM START HOLD Byte 2 REF STILL DEV MOV TEACH MC ACK HOLD
CPOS 0 x x x x x x x SPOS x x x x x x x x
2.3 Enable drive, en-
able operation
(Direct mode)
Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL
E
Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
E
CCON 0 1 x 0 0 x 1 1 SCON 0 1 0 1 0 0 1 1
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 1 SPOS 0 0 0 0 0 1 0 1
0: 0-signal 1: 1-signal; x: not relevant (optional); F: Edge positive
Tab. 5/9: Control and status bytes “Create readiness to operate – Direct mode”
If there are faults after switching on or after setting CCON.B0
(ENABLE):
} Error treatment: see example 3, Tab. 5/10.