Festo CMXR-C1, Описание

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4. PLC interface MCP1
Festo GDCP-CMXR-F-EN 0909a 23
An error is confirmed with a positive edge at CREG.QUITERR. An error can only ever be
deleted one after the other. Therefore, the interface error should be the first to be
acknowledged (if present). If this is done, then any system errors will be acknowledged.
For reasons of error reproduction, interface errors are recorded in the system's buffer
memory as an “Info message”.
Condition The running up of the control system and the interface was successful.
Activity Alternative setting for the CREG.QUITERR (falling edge) bit.
Reaction The last message applied is acknowledged (first the interface errors,
then the control system errors).
4.4.6 Requesting control sovereignty
To receive write access for a PLC interface and ultimately access to the multi-axis control
system, it is necessary that you request this at the multi-axis control system.
The SREG.ACCENA bit shows whether write access is currently free or assigned.
To request write access, a rising edge has to be placed onto the CREG.WRREQU bit.
A description of the disabled and enabled functions can be found in the table in the
Signals of the PLC interface chapter.
Requesting and receiving control sovereignty
If you receive write access for an interface, then the SREG.WRACC bit is set. The higher-
order controller has, therefore, complete access to the multi-axis control system providing
the multi-axis control system bit is set and the CREG.WRREQU bit remains set.
Requesting but not receiving control sovereignty
There could be a situation where, at the time of the log-in attempt, another PLC interface
priority has write access. This can be recognised on the one hand by the SREG.ACCENA bit
being FALSE and one does not receive a positive reply. Should a log-in attempt have been
started despite this, SREG.WRACC will never be TRUE.
Returning the control sovereignty
If the interface has the control sovereignty, then it can be returned to CREG.WRREQU
using a negative edge. Returning the control sovereignty is confirmed using SREG.WRACC
= FALSE.
4.4.7 Switching on the drives
Condition
Control sovereignty on interface
Valid operating mode is selected
No errors are present
Emergency off is not active
Activity Set the CREG.DRENA bit
Reaction
The robot's drives are switched on.
ITF replies SREG.DRRDY=TRUE.