Festo Электромотор MTR-DCI - Manual (Page 163)

5. Commissioning
5-65
Festo P.BE-MTR-DCI-CO-EN en 1209a
1
Low speed phase 1
(slow travel)
2
Maximum speed for
phase 2
3
Acceleration/
deceleration
4
Duration phase 1
CPOS.B3 or
CPOS.B4
(Jogging
positive/
negative)
Speed v(t)
t [s]
1
0
1
2
3
4
3
Fig. 5/2: Sequence diagram for jogging mode
Overview of parameters involved (see section B.2.9)
Parameters involved Description FCT PNU CO/CI
Speed phase 2 in (inc/s) x 531 20ED/21
Acceleration or deceleration (inc/s 2 ) x 532 20EE/21
Duration phase 1 in ms x 534 20E9/21
Start (FHPP) CPOS.B3 = positive edge: Jog positive (forwards)
CPOS.B4 = positive edge: Jog negative (backwards)
Reply message (FHPP) SPOS.B4 = 1: Drive moves
SPOS.B2 = 0: (Motion Complete)
Requirement Device control by PLC/field bus
Controller must be in status “Operation enabled”
Tab. 5/17: Parameters involved in jogging mode