Festo Электромотор MTR-DCI - Manual (Page 155)

5. Commissioning
5-57
Festo P.BE-MTR-DCI-CO-EN en 1209a
6. Direct mode Positioning mode
(requires status 1.3/2.3 and 4.)
When the readiness to operate is created and the reference
travel has been carried out, a nominal position must be
preselected (step 6.1 ... 6.4 conditional sequence)
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 moves).
6.4 At the end of the positioning task, SPOS.B2 (MC, Mo-
tion Complete) will be set.
If there are faults during positioning:
} Error treatment: see example 3, Tab. 5/10.