Pilz Motion Control PMC, Руководство пользователя

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8.8 Start a motion task
Motion tasks are started by a transition edge (positive or negative) at Bit 6 STW.
Bit 14 STW is used to decide whether a stored motion task or a direct motion task should be carried
out.
Conditions:
Hardware enable is present.
Amplifier is in the “Operation enabled” state.
For linear axis: reference point is set.
Example: start the EEPROM motion task number 10:
Byte 9 10 11 12
0000 0100 0F*11 1111 0000 0000 0000 1010
STW HSW
* F stands for a transition edge, the state of Bit 6 STW also depends on the previous state.
By setting Bit 5 in the manufacturer-specific status, the amplifier indicates that it has accepted the
motion task and is carrying it out.
8.9 Start a direct motion task
If the motion task data are to be freely defined, then a direct motion task must be used. In this case,
the target position, velocity and type of motion task are transferred to the process data, together
with the call of the motion task. If required, further parameters for this motion task (e.g. ramps) can
be transferred previously by parameter tasks.
Target position 135000
m
m
Velocity 20000
m m
s
Motion task type - relative to actual position
- with following motion task
- without pause
- setpoint velocity for the following task should already be reached at the
target position (only makes sense if there is no change of direction)
- use SI units
Byte 1 2 3 4 5 6
0100 0100 0F*11 1111 0000 0000 0000 0000 0100 1110 0010 0000
PZD1 PZD2 PZD3
STW v
setp
Byte 7 8 9 10 11 12
0000 0000 0000 0010 0000 1111 0101 1000 0010 0001 0001 1101
PZD4 PZD5 PZD6
s
setp
motion block type
* F stands for a transition edge, the state of Bit 6 STW also depends on the previous state.
8.10 Polling a warning or error message
If a warning or error message is present, then parameter 1001 or 1002 can be interrogated to find
out the number of the warning or error.
Page 52 User manual PROFIBUS DP PMCtendo DD4
8 Sample telegrams