Festo EMCA-EC-67 CO Series, Описание

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10 Control via FHPP
Festo – EMCA-EC-C-HP-EN – 2017-11e – English 177
10.7.3 Control record selection mode
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)
è
page 152 … … … …
8. Record selection mode (requirement: drive is referenced
è
page 157)
8.1 Prepare start “positioning task” (TA1)
Stop CPOS.HALT B0 = 1
SPOS.HALT B0 =
1
Select FHPP operating mode “record selection mode”
FHPP operating mode
selection
CCON.OPM1/2 B6/B7 = 0/0 SCON.OPM1/2 B6/B7 = x/x
2)
Select record number
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page 180
Record number Reference value = R Actual value = x
2)
Control/status byte 1
}
CCON = 00 10.xx11
b
}
SCON = xx01.0x11
b
Control/status byte 2
}
CPOS = 0xx0.000
1
b
}
SPOS = 0000.010
1
b
Control/status byte 3
}
Record no. = R
}
Record no. = x
8.2 Start positioning task (TA1)
Start positioning task CPOS.START B1 = P SPOS.ACK B1 = 1
Control/status byte 2
}
CPOS = 0xx0.00 P 1
b
}
SPOS = 0000.01 1 1
b
8.3 Positioning task active (SA2) and reset START bit
FHPP operating mode
selection
SCON.OPM1/2 B6/B7 = 0/0
Start positioning task CPOS.START B1 = 0 SPOS.ACK B1 = 0
Motion complete SPOS.MC B2 = 0
Axis is moving SPOS.MOV B4 = 1
Record number Actual value =
R
Control mode feedback RSB.COM1/2 B2/B3 = B/B
Control/status byte 1
}
CCON = 0010.xx11
b
}
SCON = 00 01.0x11
b
Control/status byte 2
}
CPOS = 0xx0.00 0 1
b
}
SPOS = 000 1 .0 00 1
b
Control/status byte 3
}
Record no. = R
}
Record no. = R
Control/status byte 4
}
RSB = 0000. BB 00
b
Possible further step:
– 8.8 Control intermediate stop
è
Tab. 10.22
– 8.9 Delete remaining path
è
Tab. 10.23
– 8.12 Stroke limit reached
è
Tab. 10.24
– 9.1 Cancel positioning task with “Halt”
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page 153
– 10.1 Cancel positioning task with “Stop”
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page 153
1) P = rising edge (positive), N = trailing edge (negative), x = any, B = dependent on operating mode, R = specification of record number
2) Current actual value.