Festo EMCA-EC-67 CO Series, Description

Page: 120 / 416

8 FHPP standard data (I/O data)
120 Festo – EMCA-EC-C-HP-EN – 2017-11e – English
8.1.2 Status transitions “Operation enabled”
The figure shows all statuses “SA... ( S tate)” and status transitions “TA... ( T ransition)” for the operating
modes “Reference mode”, “Jog mode”, “Record selection mode” and “Direct mode”.
SA1 Ready
SA5
Jog
positive
SA6
Jog
negative
SA4 Homing is carried
out
SA2 Positioning task
active
2)
SA3 Intermediate
stop
3)
S4 Operation enabled
1)
T10
TA9
TA12
TA11
TA8
TA7
TA2
TA1
TA4
TA3
TA5
TA6
1) The status transitions T4, T6 or T7 of the “Establish ready status” finite state machine have a higher priority than all transition
statuses of the “Operation enabled” finite state machine. A status transition T4, T6 or T7 can be executed from each status of the
“Operation enabled” finite state machine.
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page 118.
2) The 3 operating modes “Position”, “Speed” and “Force/torque” are regulated in the “Positioning task active (SA2)” status.
3) Depending on the operating mode, the status “Intermediate stop (SA3)” can also be automatically abandoned again.
Fig. 8.3 Status transitions “Operation enabled”
Detailed descriptions of the control and status bytes (CCON, SCON, ...)
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page 124.
TA Internal conditions Actions of the user
1)
TA... Requirements for all internal conditions
“Operation enabled”
CCON = xxx0.xx11
TA1 Homing is present. Start positioning task
CPOS.HALT, B0 = 1
CPOS.START, B1 = 0
}
1
}
CPOS = 0xx0.00 P1
1) P = rising edge (positive), N = trailing edge (negative), x = any