Festo EMCA-EC-67 CO Series, Описание

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10 Control via FHPP
Festo – EMCA-EC-C-HP-EN – 2017-11e – English 157
10.4.3 Control homing mode
Control homing
Step 8.1 – 8.4 Control data (job)
1)
Status data (response)
1)
1. – 7. Power ON … Enable operation (T3) and achieve defined
status before the operation
Operation enabled (S4)
Ready (SA1)
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8. Homing mode
8.1 Prepare start “homing” (TA7)
Stop CPOS.HALT B0 = 1 SPOS.HALT B0 = 1
Control/status byte 2
}
CPOS = 0xx0.000 1
b
}
SPOS = 0000.010 1
b
8.2 Start homing (TA7)
Start homing CPOS.HOM B2 = P SPOS.ACK B1 = 1
Control/status byte 2
}
CPOS = 0xx0.0 P 01
b
}
SPOS = 0000.01 1 1
b
8.3 Homing active and reset HOM bit
Start homing CPOS.HOM B2 = 0
2)
SPOS.ACK B1 = 0
Motion complete SPOS.MC B2 = 0
Axis is moving SPOS.MOV B4 = 1
Control/status byte 2
}
CPOS = 0xx0.0 0 01
b
}
SPOS = 000 1 .0 00 1
b
Possible further step:
– 9.1 Cancel homing with “Halt”
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– 10.1 Cancel homing with “Stop”
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8.4 Homing completed (TA8)
Motion complete SPOS.MC B2 = 1
Axis is moving SPOS.MOV B4 = 0
Drive referenced SPOS.REF B7 = 1
Control/status byte 2
}
CPOS = 0xx0.0001
b
}
SPOS = 1 00 0 .0 1 01
b
Next step
– 8. Control operation
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1) P = rising edge (positive), N = trailing edge (negative), x = any
2) The control bit “Start homing” CPOS.HOM, B2 may only be reset when the status bit “Start acknowledgment” SPOSACK, B1 is set.
Tab. 10.6 Control homing