Festo EXCM-10-***-E, Translation Of The Original Instructions

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6 Operation
Festo – EXCM-10/-30-...-E-EN – 1612b – English 47
6.4.3 Examples
Note
If a malfunction occurs during the process (
è
7 Diagnostics).
Enable operation
Requirements:
– The drive was switched on and a malfunction is not present.
– The inputs of the emergency stop interface [X4] are active, that is, 24 V must be applied to TO and
ES and 0 V to RB (
è
4.2.5 Emergency stop interface [X4]).
1. Establish the CANopen interface as a control interface (incl. parameters) via the FCT by selecting
“CANopen” on the control interface page, specifying the bit rate and node number, and then “sav­
ing” and switching the controller off and back on again.
– As soon as the controller is ready, bit 2 is set to value 1 in the SPOS status byte (MC = 1).
– In the control byte CPOS, bit 1 and 2 must be set to the value 0 (START = 0 and HOM = 0).
2. Enable the drive (controller) by setting bit 0 in the control byte CCON to the value 1 (ENABLE = 1).
– As soon as this status has been reached, bit 0 in the SCON status byte is set to value 1 (EN­
ABLED = 1).
3. Enable the operation by setting bit 1 in the control byte CCON to the value 1 (STOP = 1).
– As soon as this status has been reached, bit 1 in the SCON status byte is set to value 1
(OPEN = 1).
The operation is enabled (controlled status).
Execute homing
Requirements:
– The operation is enabled.
– The position of the axis zero point AZ was correctly parameterised via the FCT.
– In the control byte SPOS, bit 1 must be set to the value 0 and bit 2 must be set to the value 1
(ACK = 0 and MC = 1).
– In the control byte CPOS, bit 1 and bit 2 must be set to the value 0 (START = 0, HOM = 0),
so that a rising edge can be detected.
– In the control byte CPOS, bit 3 and bit 4 must be set to the value 0 (JOGP = 0 and JOGN = 0).
1. Set the bit 2 in the control byte CPOS to the value 1 (HOM = 1).
– Homing is started.
2. Reset the bit 2 in the control byte CPOS to the value 0 (HOM = 0) as soon as bit 1 in the status byte
SPOS has the value 1 (ACK = 1).
– As soon as the reference position is reached, bit 2 and bit 7 in the control byte SPOS must be set
to the value 1 (MC = 1 and REF = 1).
Homing is completed.