10
Control via FHPP
202
Festo – EMCA-EC-C-HP-EN – 2017-11e – English
10.9.9
Diagram: Interrupt positioning task with Halt and delete remaining path
The diagram shows stopping of the positioning task and deletion of the remaining path in direct opera
tion.
1
2
Acknowledge start
(SPOS.ACK, B1)
Motion complete
(SPOS.MC, B2)
Axis is moving
(SPOS.MOV, B4)
Halt
(CPOS.HALT, B0)
Start positioning task
(CPOS.START, B1)
Delete remaining path
(CPOS.CLEAR, B6)
Confirm halt
(SPOS.HALT, B0)
Setpoint value 2
(Control byte 5 … 8)
N
N + 1
4
3
Actual value 2
(Status byte 5 … 8)
…
…
…
N + 1
1
Interrupt positioning task with Halt
2
Delete remaining path
3
Start new positioning task “N + 1”
4
Target position reached
Fig. 10.21 Diagram: Interrupt positioning task and delete remaining path
Summary of Contents for EMCA-EC-67 CO Series
Page 33: ...2 CANopen Festo EMCA EC C HP EN 2017 11e English 33 ...
Page 73: ...3 EtherCAT with FHPP Festo EMCA EC C HP EN 2017 11e English 73 ...
Page 87: ...4 EtherNet IP with FHPP Festo EMCA EC C HP EN 2017 11e English 87 ...
Page 113: ...6 PROFINET IO with FHPP Festo EMCA EC C HP EN 2017 11e English 113 ...
Page 116: ...7 FHPP 116 Festo EMCA EC C HP EN 2017 11e English ...
Page 140: ...8 FHPP standard data I O data 140 Festo EMCA EC C HP EN 2017 11e English ...
Page 148: ...9 Measuring reference system 148 Festo EMCA EC C HP EN 2017 11e English ...
Page 210: ...10 Control via FHPP 210 Festo EMCA EC C HP EN 2017 11e English ...
Page 223: ...11 Monitoring of the drive behaviour Festo EMCA EC C HP EN 2017 11e English 223 ...
Page 367: ...D CANopen communication Festo EMCA EC C HP EN 2017 11e English 367 ...
Page 402: ...F Diagnostics and fault clearance 402 Festo EMCA EC C HP EN 2017 11e English ...
Page 413: ...EMCA EC 67 CO DIO EC EP PN Festo EMCA EC C HP EN 2017 11e English 413 ...
Page 414: ...EMCA EC 67 CO DIO EC EP PN 414 Festo EMCA EC C HP EN 2017 11e English ...
Page 415: ......