Festo SFC-LAC CO Series, Руководство пользователя

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5. Commissioning
5−55
Festo P.BE−SFC−LAC−CO−EN en 0708NH
7. Direct mode force control
(requiresstatus1.3/2.3 and 4.)
Step/Description Control bytes Status bytes
Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0
7.1 Specify nominal
value 4 not relevant 4 Actual value in % of rated
force
5
Ū
8 Nominal value in % of rated
force 5
Ū
8 Actual position in increments
7.2 Prepare force
Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL
7.2 Prepare force
control
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
Byte 3 FUNC FAST XUM CONT COM2 COM1 ABS Byte 3 FUNC FAST XUM VUM CONT COM2 COM1 ABS
CDIR 0 0 S x 0 0 1 0 SDIR 0 0 0 x 0 0 0 0
7.3 Start order
Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL
7.3 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 XUM CONT COM2 COM1 ABS Byte 3 FUNC FAST XUM VUM CONT COM2 COM1 ABS
CDIR 0 0 S x 0 0 1 0 SDIR 0 0 0 0 0 0 1 0
7.4 Order runs
Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL
7.4 Order runs
(nominal value not
reached)
CCON 0 1 x x 0 x 1 1 SCON 0 1 0 1 0 0 1 1
reached)
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 x 1 SPOS 1 0 0 1 0 0 x 1
Byte 3 FUNC FAST XUM CONT COM2 COM1 ABS Byte 3 FUNC FAST XUM VUM CONT COM2 COM1 ABS
CDIR 0 0 S x 0 0 1 0 SDIR 0 0 0 1 0 0 1 0
7.5 Order runs Byte 1 OPM2 OPM1 LOCK RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL 7.5 Order runs
(nominal value
reached)
CCON 0 1 x x 0 x 1 1 SCON 0 1 0 1 0 0 1 1
reached)
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 x 1 SPOS 1 0 0 0 0 1 x 1
Byte 3 FUNC FAST XUM CONT COM2 COM1 ABS Byte 3 FUNC FAST XUM VUM CONT COM2 COM1 ABS
CDIR 0 0 S x 0 0 1 0 SDIR 0 0 0 0 0 0 1 0