Festo Электромотор MTR-DCI - Manual (Page 156)

5. Commissioning
5-58
Festo P.BE-MTR-DCI-CO-EN en 1209a
Step/
Description Output data Input data
Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0
6.1 Preselect position
and speed
(bytes 4 and 5...8) Byte 4 Velocity Byte 4 Velocity
Velo-
city Velocity preselect (0...100 %) Veloc-
ity Velocity reply message
(0...100 %)
Byte 5...8 Position Byte 5...8 Position
No-
minal
(tar-
get)
posi-
tion Target position (increments),
See section 5.5.2
Actual
posi-
tion Actual position (increments),
See section 5.5.2
6.2 Start order 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 F 1 SPOS 1 0 0 0 0 0 1 1
Byte 3 FUNC FAST XLIM VLIM CONT COM2 COM1 ABS Byte 3 FUNC FAST XLIM VLIM CONT COM2 COM1 ABS
CDIR 0 0 0 0 0 0 0 S SDIR 0 0 0 0 0 0 0 S
6.3. Order runs 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 1 1 SPOS 1 0 0 1 0 0 1 1
6.4 Order concluded 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 1 0 0 0 0 1 0 1
0: 0-signal 1: 1-signal; x: not relevant (optional); F: Edge positive
S: Positioning condition: 0= absolute; 1 = relative
Tab. 5/13: I/O data “Direct mode: positioning mode”