Festo EMCA-EC-67 CO Series, Description

Page: 197 / 416

10 Control via FHPP
Festo – EMCA-EC-C-HP-EN – 2017-11e – English 197
Step 8.1 – 8.4 Status data (response)
1)
Control data (job)
1)
8.2 Start positioning task (TA1)
Start positioning task CPOS.START B1 = P SPOS.ACK B1 = 1
Control/status byte 2
}
CPOS = 0000.00 P 1
b
}
SPOS = 0000.01 1 1
b
8.3 Positioning task active (SA2) and reset START bit
FHPP operating mode
selection
SCON.OPM1/2 B6/B7 = 1/0
Start positioning task CPOS.START B1 = 0 SPOS.ACK B1 = 0
Motion complete SPOS.MC B2 =
0
Axis is moving SPOS.MOV B4 = 1
Control mode SDIR.COM1/2 B1/B2 = B/B
Supplemental para­
meters
Actual value 1 = A
Target value Actual value 1 = A
Control/status byte 1
}
CCON = 0110.xx11
b
}
SCON = 01 01.0x11
b
Control/status byte 2
}
CPOS = 0000.00
0
1
b
}
SPOS = 000
1
.0
00
1
b
Control/status byte 3
}
CDIR = 0000.0BBB
b
}
SDIR = 0000.0 BB B
b
Control/status byte 4 Setpoint value 1 = AAAA.AAAA
b
Actual value 1 = AAAA . AAAA
b
Control/status
byte 5 ... 8
Setpoint value 2 = AAAA....
b
Actual value 2 = AAAA . ...
b
Possible further step:
– 8.8 Control intermediate stop
è
Tab. 10.31
– 8.9 Delete remaining path
è
Tab. 10.32
– 8.12 Stroke limit reached
è
– 9.1 Cancel positioning task with “Halt”
è
page 153
– 10.1 Cancel positioning task with “Stop”
è
page 153
8.4 Positioning task completed (TA2)
Motion complete SPOS.MC B2 = 1
Axis is moving SPOS.MOV B4 =
B
Control/status byte 2
}
CPOS = 0000.0001
b
}
SPOS = 000 B .0 10 1
b
Next step:
– 8.1 Prepare start “positioning task” (TA1)
è
Tab. 10.30
– 8. Control operation
è
page 152
1) P = rising edge (positive), N = trailing edge (negative), x = any, B = dependent on operating mode, R = setpoint specification
2) Current actual value.
Tab. 10.30 Control direct operation