5
Commissioning
Festo – GDCP-CMMO-ST-EA-SY-EN – 2017-05c – English
105
5.6
Control via I/O control unit profile (binary)
The binary profile addresses a total of 32 sets of commands via the binary coding of digital inputs
DIN1 … DIN5. Record 0 is reserved for reference travel (homing), while records 1 .... 31 can be para
meterised.
Achievement of the objective of the active command record is reported by the MOTION COMPLETE
output. The binary profile can be changed over by input DIN8 between normal operating mode
(mode 0) and teaching mode (mode 1).
Binary coding of the record number
Binary addressing of the command record depends on the selected mode for the binary profile
è
DIN
5
4
3
2
1
DIN
3
2
1
Bit
2
4
2
3
2
2
2
1
2
0
Bit
2
2
2
1
2
0
Record
Coding mode 0
Record
Coding mode 1
0
1)
0
0
0
0
0
—
—
1
0
0
0
0
1
1
0
0
1
2
0
0
0
1
0
2
0
1
0
3
0
0
0
1
1
3
0
1
1
4
0
0
1
0
0
4
1
0
0
5
0
0
1
0
1
5
1
0
1
6
0
0
1
1
0
6
1
1
0
7
0
0
1
1
1
7
1
1
1
...
...
...
...
...
...
—
—
31
1
1
1
1
1
—
—
1)
Homing
Tab. 5.8
Binary coding of the record number via digital inputs
Supported functions:
–
Open-loop control mode, positioning mode, velocity (speed) mode
–
Closed-loop control mode: positioning mode, force mode and velocity (speed) mode
–
Jogging with 2-stage speed profile and drag error monitoring (Mode 1)
–
Teaching the position via I/O (mode 1)
–
Drag error mode, target achievement (Motion Complete), stationary monitoring
–
Comparators: position, speed, force, time
–
Asymmetric acceleration and deceleration ramp
–
Changing over the set of commands during movement without an intermediate stop.
–
Record Linking
–
Optional: stopping the current actuator function or time delay
Unsupported function:
–
Automatic homing
