Festo EMCA-EC-67 CO Series, Описание

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8 FHPP standard data (I/O data)
Festo – EMCA-EC-C-HP-EN – 2017-11e – English 121
TA Actions of the user
1)
Internal conditions
TA2 Motion Complete = 1
– The current positioning task is completed.
– The next positioning task should not be ex­
ecuted automatically (no record sequencing).
None
TA3 Motion complete = 0
The current positioning task is not yet completed.
Note:
Speed or force/torque application is cancelled.
Trigger intermediate stop.
CPOS.HALT, B0 = 0
}
CPOS = 0xxx.xxx 0
TA4 Internal status “intermediate stop” Continue positioning job.
CPOS.HALT, B0 = 1
CPOS.START, B1 = 0
}
1
CPOS.CLEAR, B6 = 0
}
CPOS = 0 0 xx.xx P1
TA5 Record selection mode with record sequencing:
– The current positioning task is completed.
– The next record should be processed
automatically.
None
Record selection mode/direct mode:
– The current positioning task is not yet com­
pleted.
– A new positioning task is pending with the
start condition “Interrupt” or “Wait”.
Start new positioning task:
– Interrupt: New positioning task is
started immediately.
– Wait: New positioning task is started
automatically after completion of
the current positioning task.
CPOS.START, B1 = 0
}
1
}
CPOS = 01xx0.00 P 1
TA6 Delete remaining path.
CPOS.HALT, B0 = x
CPOS.CLEAR, B6 = 0
}
1
}
CPOS = 0 P xx.xxx x
TA7 Start homing.
CPOS.HALT, B0 = 1
CPOS.HOM, B2 =
0
}
1
}
CPOS = 0xx0.0 P x 1
TA8 Homing completed. None
None Cancel homing with “Halt”.
CPOS.HALT, B0 = 1
}
0
}
CPOS = 0xxx.xxx N
1) P = rising edge (positive), N = trailing edge (negative), x = any