Festo EMCA-EC-67 CO Series, Описание

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10 Control via FHPP
152 Festo – EMCA-EC-C-HP-EN – 2017-11e – English
10.1.1 Establish ready status
Steps 1 – 8 Control data (job)
1)
Status data (response)
1)
1. Switching on the power supply (Power ON) EMCA switched on (S1)
Malfunction (none) SCON.FAULT B3 = 0
Load voltage is applied SCON.VLOAD B4 = 1
Controller has master control SCON.FCT/MMI B5 = 0
Motion complete SPOS.MC B2 = 1
Control/status byte 1
}
CCON = xxx0.xxxx
b
}
SCON = 00 01 . 0 x00
b
Control/status byte 2
}
CPOS = 0xxx.xxxx
b
}
SPOS = 0000.0 1 0x
b
2. Parameterise operation and download data (during commissioning)
Parameterise EMCA FCT/FPC (PNU...)
3. Automatic status transition (T1) Drive blocked (S2)
4. Block FCT access (optional)
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page 154
Block FCT access CCON.LOCK B5 =
1
SCON.FCT/MMI B5 = 0
Control/status byte 1
}
CCON = xx 1 0.xxxx
b
}
SCON = 0001.0x00
b
Control/status byte 2
}
CPOS = 0xxx.xxxx
b
}
SPOS = 0000.010x
b
5. Enable drive (T2)
2)
Drive enabled (S3)
Enable drive CCON.ENABLE B0 = 1
3)
SCON.ENABLED B0 = 1
Control/status byte 1
}
CCON = xx10.xxx
1
b
}
SCON = 0001.0x0
1
b
Control/status byte 2
}
CPOS = 0xxx.xxxx
b
}
SPOS = 0000.010x
b
6. Enable operation (T3) Operation enabled (S4)
Ready (SA1)
Stopp CCON.STOP B1 = 1 SCON.OPEN B1 = 1
Control/status byte 1
}
CCON = xx10.xx 1 1
b
}
SCON = 0001.0x 1 1
b
Control/status byte 2
}
CPOS = 0xxx.xxxx
b
}
SPOS = 0000.010x
b
7. Before the operation, achieve defined status (recommendation)
Control/status byte 1
}
CCON = xx10.xx11
b
}
SCON = 0001.0x11
b
Control/status byte 2
}
CPOS = 0xx 0 . 000 x
b
}
SPOS = 0000.010x
b
8. Control operation
– Homing mode
è
page 155
– Jog mode
è
page 159
– Teach mode
è
page 171
– Record selection mode
4)
è
page 174
– Direct mode
4)
è
page 193
1) P = rising edge (positive), N = trailing edge (negative), x = any
2) Requirement: controller enable (CO/EC/EP/PN [X9.4]; DIO [X9.16]) (parameterisation of the controller enable signals
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PNU 128 or
FCT) and input channels STO1/STO2 [X6.4/X6.5] = 24 V
3) The brake is automatically triggered when the drive is enabled.
4) Requirement: Drive is referenced.
Tab. 10.2 Create ready status