Festo Электромотор MTR-DCI - Manual (Page 159)

5. Commissioning
5-61
Festo P.BE-MTR-DCI-CO-EN en 1209a
Step/
Description Input data Output data Step/
Description
B0 B1 B2 B3 B4 B5 B6 B7 Byte B0 B1 B2 B3 B4 B5 B6 B7 Byte
7.6 Task discontinued
(stroke limit or soft-
ware end position
reached) 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 x 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 x 0 0 0 0 0 x 1 SPOS 1 0 0 0 0 1 x 1
Byte 3 FUNC FAST XUM – CONT COM2 COM1 ABS Byte 3 FUNC FAST XUM VUM CONT COM2 COM1 ABS
CDIR 0 0 S x 0 0 1 0 SDIR 0 0 1 0 0 0 0 0
7.7 Conclude task
(e. g. with STOP) 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 x 0 x 0 1 SCON 0 1 0 1 0 0 0 1
Byte 2 – CLEAR TEACH JOGN JOGP HOM START HOLD Byte 2 REF STILL DEV MOV TEACH MC ACK HOLD
CPOS x 0 0 0 0 0 x 1 SPOS 1 0 0 0 0 1 x 1
Byte 3 FUNC FAST XUM – CONT COM2 COM1 ABS Byte 3 FUNC FAST XUM VUM CONT COM2 COM1 ABS
CDIR 0 0 S x 0 0 1 0 SDIR 0 0 0 0 0 0 0 0
0: 0-signal 1: 1-signal; x: not relevant (optional); F: Edge positive
S: Path limitation (stroke limit) 0 = Stroke limit active, 1 = Stroke limit not active
Tab. 5/14: I/O data Direct mode Power operation
If there are malfunctions during force mode:
See example 3, Tab. 5/13 Malfunction handling.