6
Operation
Festo – EXCM-10/-30-...-E-EN – 1612b – English
59
Start of a positioning job (direct mode)
Requirements:
–
The operation is enabled and homing has been executed successfully.
–
In the status byte SPOS (CVE object 239/0), bit 1 must be set to the value 0 and bit 2 must be set to
the value 1 (ACK = 0 and MC = 1).
–
Bit 1, bit 2, bit 3 and bit 4 in the control byte CPOS (CVE object 240/0) must be set to the value 0
(START = 0, HOM = 0, JOGP = 0 and JOGN = 0).
1. Set the bit 6 in the control byte CCON (CVE object 240/0) to the value 1 (OPM = 1).
–
The “direct” operating mode is selected.
2. Set the desired parameters (target position in X- and Y-direction as well as speed) of the positioning
job.
Write the target position in the X-direction to the CVE object 305/0.
Write the target position in the Y-direction to the CVE object 305/1.
Write the speed to the CVE object 240/1.
3. Set whether positioning should take place absolutely or relative to the setpoint position.
Positioning absolute:
Set the bit 0 in the control byte CPOS (CVE object 240/0) to the value 0 (ABS/REL = 0).
Positioning relative:
Set the bit 0 in the control byte CPOS (CVE object 240/0) to the value 1 (ABS/REL = 1).
4. Set the bit 1 in the control byte CPOS (CVE object 240/0) to the value 1 (START = 1).
–
The positioning job is started.
–
As long as the positioning job is being executed, bit 2 of the status byte SPOS (CVE object
239/0) has the value 0 (MC = 0).
–
As soon as the positioning job has ended, bit 2 of the status byte SPOS (CVE object 239/0) has
the value 1 (MC = 1).
5. Reset the bit 1 in the control byte CPOS (CVE object 240/0) to the value 0 (START = 0) as soon as bit
1 in the status byte SPOS (CVE object 239/0) has the value 1 (ACK = 1).
Summary of Contents for EXCM-10-***-E
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