Festo CMMP-AS, Manual

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6. Control via FHPP
85 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
6.9.4 Direct operation – synchronisation on input X10 (FNUM=1)
In the case of pure synchronisation (without cam disc) on input X10, the following settings
are necessary for the slave:
Step/
Description Control bytes Status bytes
Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0
1 Position and speed
(control bytes 4 and
5...8)
Byte 4 RVelocity Byte 4 RVelocity
Speed – Speed Speed of the slave (0...100
%)
Byte 5...8 position Byte 5...8 position
Setpo
int
pos. – Act.
pos. Actual position of the slave
(increments)
2 In CDIR:
select FUNC
Byte 1 OPM2 OPM1 LOCK – RESET BREAK STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 1 x x 0 x 1 1 SCON 0 1 0 1 0 0 1 1
Byte 2 – CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
CPOS x 0 0 0 0 0 0 1 SPOS 0 0 0 0 0 1 0 1
Byte 3 FUNC FGRP FGRP FNUM FNUM COM2 COM1 ABS Byte 3 FUNC FGRP FGRP FNUM FNUM COM2 COM1 ABS
CDIR 1 0 0 0
1
0 0
S
SDIR 1 0 0 0
1
0 0
S
3 Start
Byte 1 OPM2 OPM1 LOCK – RESET BREAK STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 1 x x 0 x 1 1 SCON 0 1 0 1 0 0 1 1
Byte 2 – CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
CPOS x 0 0 0 0 0
F
1 SPOS 1 0 0
1
0 0
1
1
Byte 2 – CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
0: logic 0; 1: logic 1; x: not relevant (optional); F: Edge positive;
S: Positioning condition: 0= absolute; 1 = relative
Tab. 6.9.4: Direct operation – synchronisation on input X10
Description
1. Setpoint speed and setpoint position have no significance, due to synchronisation on
input X10.
2. In CDIR : Selection of the function via the FUNC bits, here FNUM=1.
3.
Start:
A rising edge at START activates synchronisation. After that, the controller
synchronises on the input X10.
The drive stops with removal of the
STOP
bit. The status of the
START bit is not relevant thereby. For restarting, the status bit
SCON.B1 OPEN must be set. Then the START bit can be set again.
An intermediate stop is not possible. Setting of the HALT bit results
in stopping (
HALT = STOP
).