Festo EMCA-EC-67 CO Series, Описание

Страница: 169 / 416

10 Control via FHPP
Festo – EMCA-EC-C-HP-EN – 2017-11e – English 169
10.5.2 Control jog operation
Control jogging (example, travel in a positive direction)
Step 8.1 – 8.5 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)
è
page 152 … … … …
8. Jog operation
8.1 Prepare start of “jog travel”
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 jog travel (TA9)
Jog positive CPOS.JOGP B3 = P SPOS.ACK B1 = 1
Control/status byte 2
}
CPOS = 0xx0. P 001
b
}
SPOS = 0000.01 1 1
b
8.3 Continue jog travel
Jog positive CPOS.JOGP B3 = 1
Motion complete SPOS.MC B2 = 0
Axis is moving SPOS.MOV B4 = 1
Control/status byte 2
}
CPOS = 0xx0.
1
001
b
}
SPOS = 000
1
.0
0
11
b
Possible next step:
– 9.1 Cancel jog travel with “Halt”
è
page 153
– 10.1 Cancel jog travel with “Stop”
è
page 153
8.4 End jog travel (TA10)
Jog positive CPOS.JOGP B3 = N SPOS.ACK B1 = 0
Control/status byte 2
}
CPOS = 0xx0. N 001
b
}
SPOS = 0001.00 0 1
b
8.5 Jog travel completed
Jog positive CPOS.JOGP B3 = 0 SPOS.ACK B1 = 0
Motion complete SPOS.MC B2 = 1
Axis is moving SPOS.MOV B4 = 0
Control/status byte 2
}
CPOS = 0xx0.
0
001
b
}
SPOS = 000
0
.0
1
01
b
Next step
– 8.2 Start jog travel
– 8. Control operation
è
page 152
1) P = rising edge (positive), N = trailing edge (negative), x = any
Tab. 10.16 Control jogging (example, travel in a positive direction)
Note
If both jog signals “Jog positive” (CPOS.JOGP) or “Jog negative” (CPOS.JOGN) are active
simultaneously, the signal that was set first is always executed.