Festo Контроллеры двигателя SFC-LAC - Manual (Page 170)

5. Commissioning
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Festo P.BE−GDCP−SFC−LACI−PB−E N en 0812NH
5.7.6 Direct mode: Specification of a position or force
In the status Operation enabled" a positioning task is
formulated directly in the I/O data which are transmitted via
the field bus. The setpoint values for position or force/torque
are managed in the PLC.
The function is used in the following situations:
ć moving to any position.
ć the target positions are unknown during planning or
change frequently (several different work item positions).
A positioning profile using chained records can be externally
implemented by the master.
Procedure for specifying a position
1. The user sets the desired position setpoint, the speed,
and the mode (absolute/relative/energy optimised).
2. With a rising edge at START (CPOS.B1) the controller
accepts the setpoint position and starts the positioning
job.
3. After the start, you must wait for MC (SPOS.B2) before a
new start can be made.
4. When the setpoint position is reached, MC is set.