Festo CECX-X-C1 Series, Manual

Page: 558 / 631

The Festo_Motion.lib library
10
Input Type Description
TeachActualValue BOOL Teach value
With a falling edge, the current actual value is transferred
to the setpoint value register of the currently addressed
positioning record. Actual values can be
e.g. position, pressure or torque.
ClearRemainingPosition BOOL Delete remaining distance
In the "Halt" state, a rising edge causes the positioning
task to be deleted and a transition to the "Ready" state.
AbsoluteRelative BOOL Absolute/relative
= 0: Setpoint value is absolute
= 1: Setpoint value is relative to last setpoint value
SetFunction BOOL Cam disc
= 0: Cam disc not active
= 1: Cam disc active
DeactivateStrokeLimit BOOL Force limit value not active (with force control only)
= 0: Force monitoring active
= 1: Force monitoring not active
RecordNo SINT Record number
Preselection of record number for record selection.
SetFuncNumber USINT Cam disc function
= 0: Reserved
= 1: Synchronisation to external input
= 2: Synchronisation to external input with cam disc
function
(i.e. slave with physical master)
= 3: Synchronisation to virtual master with cam disc
function
SetFuncGroup USINT Cam disc group
= 0: Synchronisation with/without cam disc
= 1: Reserved
= 2: Reserved
= 3: Reserved
SetValuePosition DINT Position
Position in the position unit
SetValueForceRamp USINT Force ramp
Value of the force ramp in % of the nominal value or
maximum value
SetValueVelocity USINT Speed
Speed in % of the maximum speed
SetValueForce DINT Force
Force in % of the maximum force
SetValueRotRamp SINT Speed ramp
Speed ramp in % of the maximum ramp
SetValueRotSpeed DINT Speed
Speed in speed unit