Festo Контроллер двигателя CMMD-AS - Manual (Page 39)

3. Product description
Festo P.BE-CMMD-AS-HW-EN 1002NH 39
2. Activation of the "Profile Position Mode"
The positioning mode is activated via the COB 6060_00 (Mode of Operation). This
must be written once, since all internal sectors must be set correctly thereby.
Command:
=606000:01 Profile Position Mode
3. Write position parameters
The target position can be written over the COB 607A_00 (target position). The
target position is thereby written in "position units". That means, it depends on the
set CAN factor group.
The default setting here is 1 / 2
16 revolutions (16 bit portion before the decimal, 16
bit portion after the decimal).
Command:
=607A00:00058000 Target position 5.5 revolutions
The travel speed can be written via the COB 6081_00 (profile velocity),
the final speed via the COB 6082_00 (end velocity).
The speeds are thereby written in "speed units". That means, they depend on the
set CAN factor group.
The default setting here is 1 / 2
12 revolutions/min (20 bit portion before the decimal,
12 bit portion after the decimal).
Command:
=608100:03E80000 Speed of travel 1000 RPM
The acceleration can be written via the COB 6083_00 (profile acceleration),
the deceleration via the COB 6084_00 (profile deceleration) and
the quick stop ramp via the COB 6085 (quick stop deceleration).
The accelerations are thereby written in "acceleration units". That means, they
depend on the set CAN factor group.
The default setting here is 1 / 2
8 revolutions/min/s (24 bit portion before the
decimal, 8 bit portion after the decimal).
Command:
=608300:00138800 Acceleration 5000 RPM/s
4. Start positioning
Positioning is started via the CAN control word (COB 6040_00):
- Controller enable is controlled via bit 0 ... 3 (see above).
- The positioning is started over a rising edge at bit 4.
The following settings are taken over thereby.
- Bit 5 establishes whether an ongoing positioning is ended first before the
new positioning task is taken over (0), or whether the ongoing positioning
should be cancelled (1)
- Bit 6 establishes whether the positioning should be carried out absolutely (0)
or relatively (1).
Command: =604000:001F Start absolute positioning or
Command: =604000:005F Start relative positioning
5. After positioning has been ended, the condition of the controller is reset so a new
positioning can be started.
Command: =604000:000F Bring motor controller into "Ready" status