Festo EMCA-EC-67 CO Series, Описание

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10 Control via FHPP
Festo – EMCA-EC-C-HP-EN – 2017-11e – English 153
10.2 Cancel travel/positioning task with “Halt” or “Stop”
10.2.1 Cancel homing, jog, speed or force/torque mode “Halt”
Step 9.1 – 9.2 Control data (job)
1)
Status data (response)
1)
9.1 Cancel travel/positioning task with “Halt”
Stop CPOS.HALT B0 = 0 SPOS.HALT B0 = 0
Control/status byte 2
}
CPOS = 0xx0.000 0
b
}
SPOS = 0001.000 0
b
9.2 Travel/positioning task completed
Motion complete SPOS.MC B2 = 1
Axis is moving SPOS.MOV B4 = 0
Control/status byte 2
}
CPOS = 0xx0.0000
b
}
SPOS = 000 0 .0 1 00
b
Next step
– 8. Control operation
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Tab. 10.2
1) P = rising edge (positive), N = trailing edge (negative), x = any
Tab. 10.3 Cancel homing, jog, speed or force/torque mode “Halt”
10.2.2 Cancel homing, jog, record selection or direct mode with “Stop”
Step 10.1 – 10.2 Control data (job)
1)
Status data (response)
1)
10.1 Cancel travel/positioning task with “Stop” (T4)
Stopp CCON.STOP B1 = 0 SCON.OPEN B1 = 0
Control/status byte 1
}
CCON = xx10.xx 0 1
b
}
SCON = 0001.0x 0 1
b
10.2 Travel/positioning task completed
Motion complete SPOS.MC B2 = 1
Axis is moving SPOS.MOV B4 = 0
Control/status byte 2
}
CPOS = 0xxx.x001
b
}
SPOS = 000
0
.0
1
01
b
Next step:
– 6. Enable operation
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Tab. 10.2
1) P = rising edge (positive), N = trailing edge (negative), x = any
Tab. 10.4 Cancel homing, jog, record selection or direct mode with “Stop”