Festo EMCA-EC-67 CO Series, Описание

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10 Control via FHPP
198 Festo – EMCA-EC-C-HP-EN – 2017-11e – English
10.9.4 Control intermediate stop
Can only be used in positioning mode.
Step 8.5 – 8.8 Control data (job)
1)
Status data (response)
1)
8. Direct operation
8.3 Positioning task active
è
Tab. 10.30 … … … …
8.5 Trigger intermediate stop (TA3)
Stop CPOS.HALT B0 = 0 SPOS.HALT B0 = 0
Control/status byte 2
}
CPOS = 0xx0.000 0
b
}
SPOS = 0001.000 0
b
8.6 Intermediate stop reached
Axis is moving SPOS.MOV B4 = 0
Control/status byte 2
}
CPOS = 0xx0.0000
b
}
SPOS = 000 0 .0000
b
8.7 Prepare start after intermediate stop
Stop CPOS.HALT B0 =
1
SPOS.HALT B0 =
1
Delete remaining path CPOS.CLEAR B6 = 0
Control/status byte 2
}
CPOS = 0 0 x0.000 1
b
}
SPOS = 0000.000 1
b
8.8 Continue positioning task (TA4)
Start positioning task CPOS.START B1 = P SPOS.ACK B1 = 1
Control/status byte 2
}
CPOS = 00x0.00 P 1
b
}
SPOS = 0000.00 1 1
b
Next step:
– 8.3 Positioning task active
è
Tab. 10.30
1) P = rising edge (positive), N = trailing edge (negative), x = any
Tab. 10.31 Control intermediate stop
10.9.5 Delete remaining path
Can only be used in positioning mode.
Step 8.9 Control data (job)
1)
Status data (response)
1)
8. Direct operation
8.6 Intermediate stop reached
è
Tab. 10.31 … … … …
8.9 Delete remaining path (TA6)
Stop CPOS.HALT B0 = x SPOS.HALT B0 = x
Delete remaining path CPOS.CLEAR B6 = P
Motion complete SPOS.MC B2 = 1
Control/status byte 2
}
CPOS = 0 P 00.000 x
b
}
SPOS = 0000.0 1 0 x
b
Next step:
– 8.1 Prepare start “positioning task” (TA1)
è
Tab. 10.30
– 8. Control operation
è
page 152
1) P = rising edge (positive), N = trailing edge (negative), x = any
Tab. 10.32 Delete remaining path