Festo CMMS-AS-G2 Series, Description

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B Serial interface RS232
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 165
3. Write position parameters
The target position can be written through the CAN control word (COB 607A_00, target position).
The target position is thereby written in “position units”. That means, it depends on the set CAN
factor group. The default setting here is 1/2
16
revolutions. (16 bit portion before the decimal point,
16 bit portion after it.)
– Command: =607A00:00058000 target position 5.5 revolutions
The travel speed can be written via the CAN control word (COB 6081_00, profile velocity), the final
speed via the CAN control word (COB 6082_00, end velocity).
The speeds are thereby written in “speed units”. That means, they depend on the set CAN factor
group.
The default setting here is 1 revolution/min. (32 bit portion before the decimal point, 0 bit portion
after it).
– Command: =608100:000003E8 travel speed 1000 rpm
The acceleration can be written via the CAN control word (COB 6083_00, profile acceleration), the
deceleration via the CAN control word (COB 6084_00 profile deceleration) and the quick stop ramp
via the CAN control word (COB 6085, quick stop deceleration).
The acceleration is thereby written in “acceleration units”. That means, they depend on the set CAN
factor group.
The default setting here is 1/2
8
revolution/min. (24 bit portion before the decimal point, 8 bit por-
tion after it).
– Command: =608300:00138800 acceleration 5000 rpm
4. Start positioning
Positioning is started via the CAN control word (COB 6040_00):
a) Controller enable is controlled via bit 0 … 3 (see above).
b) Positioning is started via a rising edge at bit 4. The following settings are accepted thereby.
c) Bit 5 establishes whether an ongoing positioning is ended first before the new positioning task is
taken over (0), or whether the ongoing positioning should be cancelled (1)
d) Bit 6 establishes whether the positioning should be carried out absolutely (0) or relatively (1).
– Command: =604000:001F start absolute positioning or
– Command: =604000:005F start relative positioning
5. After positioning has been ended, the status of the controller must be reset so a new positioning
can be started.
– Command: =604000:000F bring controller into “Ready” state
Example: “Homing mode” via the RS232 interface
With the CAN access simulated via the RS232 interface, the motor controller can also be operated in
the CAN “Homing mode”. The following describes the sequence in principle.
1. Conversion of the controller enable logic
2. The controller enable logic can be changed via the CAN control word (COB 6010_10). Since the
simulation of the CAN interface can be completely taken over via the RS232 interface, the enable
logic can also be converted to DINs + CAN.
–
Command: =651010:0002