Festo Электромотор MTR-DCI - Manual (Page 172)

5. Commissioning
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Festo P.BE-MTR-DCI-CO-EN en 1209a
5.6.5 Direct mode (positioning mode, power operation)
In the status “Operation enabled” (Direct mode) a positioning
task is formulated directly in the I/O data which are transmit-
ted via the field bus. The nominal (setpoint) values for posi-
tioning mode or power operation are reserved in the PLC.
A positioning profile based on consecutive positioning tasks
can be implemented by means of external control by the
master.
Positioning mode
The positioning mode is used in the following situations:
– moving to any position within the work stroke.
– The target positions are unknown during planning or
change frequently (several different work item positions).
Sequence
1. The user sets the desired (discrete) nominal value for
positioning and the positioning condition (absolute/rela-
tive) in his output data.
2. With a rising edge at START (CPOS.B1) the controller
accepts the nominal position and starts the positioning
task.
3. After the start you must wait for MC before a new start
can be made.
4. When the nominal position is reached, MC (SPOS.B2)
is set.