3. Product description
38
Festo.P.BE-CMMS-ST-HW-EN 0903b
4.
Start positioning
Positioning is started via the CAN control word (COB 6040_00):
1. Controller enable is controlled via bit 0 … 3 (see above).
2. The positioning is started over a rising edge at bit 4. The following settings
are taken over thereby.
3. 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).
4. 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 condition of the controller is reset so a new
positioning can be started.
6.
Command:
=604000:000F
Bring controller into "Ready" state
7.
Operation over RS-485
If the CMMS-ST is operated over RS-485, control can take place just as with
operation over RS232. If required, the node number is simply written in front of the
command. The node number is set via the DIP switches.
Command:
XT07:=607100:000A0000
Target position 10 revolutions
send to node 7
Example "Homing Mode" via RS232
With the CAN access simulated via RS232, the CMMS-ST can also be operated in the CAN
"Homing Mode". The following describes the sequence in principle.
1.
Changing of the controller enable logic
2.
The controller enable logic can be changed via the COB 6010_10. Since the simulation
of the CAN interface over RS232 can be completely taken over, the enable logic can
also be changed to DINs + CAN.
3.
Command:
=651010:0002
4.
As a result, the release can be granted via the CAN control word (COB 6040_00).
Command:
=604000:0006
Command "Shutdown"
Command:
=604000:0007
Command "Switch on/Disable Operation"
Command:
=604000:000F
Command ‚Enable Operation‛
5.
Activation of the "Homing mode"
6.
The homing mode is activated via the COB 6060_00 (Mode of Operation).
7.
Command:
=606000:06
Homing mode
8.
Start homing
9.
Homing is started via the CAN control word (COB 6040_00):
10.
Controller enable is controlled via bit 0 ... 3.
11.
The homing run is started via a rising edge at bit 4.
