Festo CMMP-AS-***-M3 Series, Description

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6 Functions
26 Festo – GDCP-CMMP-M3-FW-EN – 1203NH
Example
For positioning record “4”, the following are established as subsequent positions:
– NEXT1 := “19” (
Z
DIN0
}
1)
– NEXT2 := “20” (
Z
DIN1 } 1)
Through the I/O configuration, the subsequent positions are logically linked to the digital inputs DIN0
and DIN1. Corresponding to the established continuation condition, the following positioning beha-
viour results:
Command Continuation condition (example)
END After position 4 is reached, record continuation is ended.
GoFP1 Signal edges 0 } 1 at input DIN0 or DIN1 are not evaluated. After position 4 is reached,
position 19 is travelled to immediately.
IgnUTP As long as position 4 has not been reached yet, edge changes at DIN0 and DIN1 are
ignored. If position 4 is reached, a rising edge at input
– NEXT1(DIN0 0 } 1) causes approach of the target position 19
– NEXT2 (DIN1 0
}
1) an approach of the target position 20.
GoImm Signal edges 0 } 1 at input DIN0 or DIN1 are evaluated during the positioning process.
With an active positioning edge at input NEXT1 or NEXT2, the ongoing positioning is
cancelled and
– NEXT1(DIN0 0 } 1) causes approach of the target position 19
– NEXT2(DIN1 0
}
1) causes the target position 20 to be approached.
GoATP – As long as position 4 has not been reached yet, edge changes at DIN0 and DIN1 are
recorded; positioning is not interrupted. During the ongoing positioning, first a sig-
nal edge appears at DIN0 0 } 1, after that an edge at DIN1 0 } 1. After target posi-
tion 4 is reached, positioning is started to Pos. 20.
– If position 4 is reached before an edge occurs, a rising edge at input:
– NEXT1(DIN0 0 } 1) causes approach of the target position 19
– NEXT2 (DIN1 0
}
1) an approach of the target position 20.
Tab. 6.5 Continuation condition (example)
6.1.6 Modulo positioning
“Modulo” positioning can be performed for timed endless movements (e.g. conveyor belts, rotary in-
dexing tables). This enables endless movements to be implemented without losing the position refer-
ence to the zero point of the measuring reference system.
Selection for the modulo positioning is possible for the following axis configurations:
– Rotative axis with unlimited positioning range
– User-defined linear axis - type “conveyor belt”
Direction of movement
For modulo positioning, the direction of movement of the positioning motion is specified through the
following selection: In the case of the “Direction of rotation always positive/negative” mode, the set-
ting also applies to setpoints outside the interval (i.e. position specification prefixes are ignored in the
position record table). The “Shortest Patch” setting only applies for absolute positioning within the