Festo MTR-DCI, Manual

Page: 110 / 184

5. Commissioning
5−32
Festo P.BE−MTR−DCI−IO−EN en 0606b
Positioning procedures
Start positioning
procedure If there are no faults and enable is active (ENABLE = 1), the
positioning procedure (input word I1 ... I4 = 1, positive edge
at START input) can be carried out. When the START signal is
set (
>
1), the MC signal (Motion Complete) is reset (
>
0)
and the drive moves to the specified target position. As long
as the drive is in motion, the MC signal remains reset, and
no other position set can be started with the START signal.
Disable With a falling edge at the ENABLE input (
>
0), the outputs
READY and the MC are reset (
>
0). A current positioning
procedure is discontinued. The starting signal will then be
ignored. When the ENABLE signal is enabled again
>
1,
READY and MC will still not be set until the START signal is
reset (
>
0). The next position set can then be started with
a rising edge at the START input (
>
1).
Position reached The TR signal will be set with position sets when the nominal
position is reached (after approx. 20 ms).
If the TR signal is set while the START signal is still at 1, the
MC signal will remain at 0 until the START signal is reset. This
coupling of the START/ MC signal enables signal confirmation
for the PLC Z(handshake function, see Fig.5/3: Start 1).
If the START signal is reset after the MC signal has confirmed
the start (MC
>
0) and before the TR signal is set, the MC
signal will be set simultaneously with the TR signal when it
has reached the nominal value (MC, TR
>
1, see Fig.5/3:
Start 2).
Fault During operation the outputs READY and MC will be reset if
there is a fault. A fault is clearly indicated during operation by
the following I/O status:
Operating voltage applied
Inputs: ENABLE = 1 and START = 0
Outputs: MC = 0 and READY = 0