Festo CMMO-ST-C5-1-LKP, Оригинальное руководство пользователя

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6 Control via FHPP
Festo – GDCP-CMMO-ST-LK-C-HP-EN – 2017-05b – English 57
6.5 Execute Record
A record can be started in the “Operation enabled” status. This function is usually used for:
– selection-free approach to positions in the record list by the controller
– selection-free running of speeds and forces of the record list by the controller
– processing a positioning profile by linking records
– known target positions that seldom change (recipe change)
Sequence
1. Set the desired record number in the controller's output data. Until the start, the motor controller
continues to reply with the number of the record last processed.
2. With a rising edge at CPOS.START, the controller accepts the record number and starts the position­
ing job.
3. The motor controller signals with the rising edge at SPOS.ACK that the output data of the controller
has been taken over and the positioning task is now active. The positioning command continues to
be executed, even if CPOS.START is reset to zero.
4. When the record is concluded, SPOS.MC is set.
Causes of errors in application:
– Homing has not been carried out.
– The target position has not been reached.
– The record number is invalid.
– The record has not been initialised.
With record chaining
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section 6.5.3:
If a new speed and/or target position is specified in the movement, the remaining path to
the target position must be large enough to reach the destination with the braking ramp
that was set.
If this destination cannot be reached with the parameterised speed, acceleration or de­
celeration, fault message 0x25 (path calculation) is reported.