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 131
Control byte 2 (CPOS)
The record selection mode, direct mode, homing mode, jog mode and teaching are controlled through
the control byte 2 (CPOS).
Control byte 2 (CPOS)
Bit DE EN Description
B0
HALT
Halt Halt = 1: Do not activate halt.
Requirement for the following functions:
– Start positioning task (CPOS.START, B1)
– Start homing (CPOS.HOM, B2)
– Jog positive (CPOS.JOGP, B3)
– Jog negative (CPOS.JOGN, B4)
= 0: Activate halt. The drive is stopped with the delay
(record selection mode: PNU 408/direct mode:
PNU 542).
– Positioning task remains active (intermediate
stop).
– Speed or force/torque application is com­
pleted.
B1
START
Fahrauftrag
starten
Start
Positioning
Task
0
}
1: – Take over current setpoint data and start pos­
itioning task
– Continue current positioning task after inter­
mediate stop
è
page 181, 201.
B2
HOM
Start homing Start
Homing
0
}
1: Start homing with the parameterised homing
method
è
page 155.
B3
JOGP
Jog positive Jog p ositive 0
}
1: Start jog travel in a positive direction.
1
}
0: End jog travel.
è
page 170.
B4
JOGN
Jog negative
Jog n
egative 0
}
1: Start jog travel in a negative direction.
1
}
0: End jog travel.
è
page 170.
B5
TEACH
Teach value Teach actual
Value
1
}
0: Take over current position value into paramet­
erised teach target (PNU 520)
è
page 171.
B6
CLEAR
Delete
remaining
path
Clear
Remaining
Position
0
}
1: Positioning mode in the status “intermediate
stop” (SA3):
Delete remaining path and end current position­
ing order. After that, the EMCA changes into the
FHPP status “Ready (SA1)”
è
page 117.
B7
RES
– – = 0: Reserved
Tab. 8.9 Control byte 2