Festo EMCA-EC-67 CO Series, Описание

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10 Control via FHPP
196 Festo – EMCA-EC-C-HP-EN – 2017-11e – English
10.9.3 Control direct operation
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. Direct operation (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 “direct operation”
FHPP operating mode
selection
CCON.OPM1/2 B6/B7 = 1/0 SCON.OPM1/2 B6/B7 = x/x
2)
Select operating mode/control mode
–
COM1/2 = 00: Positioning mode
– COM1/2 = 01: Speed mode
– COM1/2 = 10: Force/torque mode
Control mode CDIR.COM1/2 B1/B2 = B/B SDIR.COM1/2 B1/B2 = x/x
2)
Select positioning type (only for positioning mode)
–
ABS = 0: Setpoint value is absolute to the project zero point
– ABS = 1: Setpoint value is relative to the actual/setpoint position
Absolute/Relative CDIR.ABS B0 = B SDIR.ABS B0 = B
Activate stroke monitoring (optional)
Stroke limit value
deactivated
CDIR.XLIM B5 = 0
Specify setpoint values
Supplemental
parameters
Setpoint value 1 = R Actual value 1 = x
2)
Target value Setpoint value 2 = R Actual value 2 = x
2)
Control/status byte 1
}
CCON = 01 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
}
CDIR = 00 0 0.0 BBB
b
}
SDIR = 0000.0xx B
b
Control/status byte 4 Setpoint value 1 = R Actual value 1 = x
Control/status
byte 5 ... 8
Setpoint value 2 = R Actual value 2 = x
1) P = rising edge (positive), N = trailing edge (negative), x = any, B = dependent on operating mode, R = setpoint specification
2) Current actual value.