Festo SFC-LAC CO Series, Руководство пользователя

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5. Commissioning
5−53
Festo P.BE−SFC−LAC−CO−EN en 0708NH
6. Direct mode: Positioning mode
(requiresstatus1.3/2.3 and 4.)
Step/
D
i ti
Control bytes Status bytes
Description
Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0
6.1 Preselect Byte 4 RVelocity Byte 4 RVelocity 6.1 Preselect
position and
speed
(control bytes 4
Velocity Velocity preselect (0
Ū
100 %) Velocity Velocity reply message
(0
Ū
100 %)
(control bytes 4
and 5
Ū
8)
Byte 5...8 Position Byte 5...8 Position
and 5
Ū
8)
Nominal
(target)
position Nominal position (increments) Actual
position Actual position (increments)
6.2 Start order
Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL
6.2 Start order
CCON 0 1 x x 0 x 1 1 SCON 0 1 0 1 0 0 1 1
Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
CPOS x 0 0 0 0 0 F 1 SPOS 1 0 0 0 0 0 1 1
Byte 3 FUNC FAST XLIM VLIM CONT COM2 COM1 ABS Byte 3 FUNC FAST XLIM VLIM CONT COM2 COM1 ABS
CDIR 0 0 0 0 0 0 0 S SDIR 0 0 0 0 0 0 0 S
6.3. Order runs
Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL
6.3. Order runs
CCON 0 1 x x 0 x 1 1 SCON 0 1 0 1 0 0 1 1
Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
CPOS x 0 0 0 0 0 1 1 SPOS 1 0 0 1 0 0 1 1
6.4 Order
Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL
6.4 Order
concluded
CCON 0 1 x x 0 x 1 1 SCON 0 1 0 1 0 0 1 1
Byte 2 CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
CPOS x 0 0 0 0 0 0 1 SPOS 1 0 0 0 0 1 0 1
0: 0−signal
1: 1−signal
x: not relevant (optional)
F: Edge positive
S: Positioning condition: 0 = absolute
1 = relative
Tab.5/9: Control and status bytes Positioning direct mode"