Festo CMMP-AS, Руководство пользователя

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6. Control via FHPP
86 Festo.P.BE-CMMP-CAM-SW-EN en 1105a
6.9.5 Direct operation – synchronisation on input X10 with cam
disc (FNUM=2)
In parametrisation of the slave, the following steps are required:
Step/
Description Control bytes Status bytes
Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0
1 Position and speed
(control bytes 4 and
5...8)
Byte 4 RVelocity Byte 4 RVelocity
Speed – Speed Speed of the slave
(0...100 %)
Byte 5...8 position Byte 5...8 position
Set-
point
pos. – Act.
pos. Actual position of the slave
(increments)
2 In CDIR:
select FUNC
Byte 1 OPM2 OPM1 LOCK – RESET BREAK STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 1 x x 0 x 1 1 SCON 0 1 0 1 0 0 1 1
Byte 2 – CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
CPOS x 0 0 0 0 0 0 1 SPOS 0 0 0 0 0 1 0 1
Byte 3 FUNC FGRP FGRP FNUM FNUM COM2 COM1 ABS Byte 3 FUNC FGRP FGRP FNUM FNUM COM2 COM1 ABS
CDIR 1 0 0 1 0 0 0 S SDIR 1 0 0 1 0 0 0 S
3 Parametrisation
4 Start
Byte 1 OPM2 OPM1 LOCK – RESET BREAK STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 1 x x 0 x 1 1 SCON 0 1 0 1 0 0 1 1
Byte 2 – CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
CPOS x 0 0 0 0 0
F
1 SPOS 1 0 0
1
0 0
1
1
5 New parameter set
6 Transfer of new
parameters
Byte 1 OPM2 OPM1 LOCK – RESET BREAK STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 1 x x 0 x 1 1 SCON 0 1 0 1 0 0 1 1
Byte 2 – CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
CPOS x 0 0 0 0 0 F 1 SPOS 1 0 0 1 0 0 1 1
0: logic 0; 1: logic 1; x: not relevant (optional); F: Edge positive;
S: Positioning condition: 0= absolute; 1 = relative
Tab. 6.9.5: Direct operation – synchronisation on input X10 with cam disc function
Description
1. Setpoint speed and setpoint position have no significance, due to synchronisation on
input X10.
2. In
CDIR
: Selection of the function via the FUNC bits, here FNUM=2.
3. Parametrisation: Set
PNU 700 … 720
to the desired values (cam number, encoder
etc.).
4. With a rising edge of
START
, the controller synchronises on the input X10. In direct
operation, the gear ratio and other relevant data are also transferred with a rising
edge. Changed values of these data are only transferred with a new edge change
(0 -> 1).
Note: The master should be at rest when a cam disc is activated.
5. During movement, the parameters 700 … 720 can be newly written. This does not
result in an immediate reaction. These become effective only when the conditions
described under point 6 are fulfilled.
6. The new parameters are transferred with a new rising edge at the START input.
Previously, the START bit must be set to 0. With a rising edge, the new cam is
transferred immediately.
Note: The master should be at rest when a cam disc is activated.