Festo Контроллер позиционирования CPX-CMAX - Manual (Page 132)

3. Drive functions
3−70
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3.4.1 Start of a positioning task
t
min
t
min:
at least 1 bus cycle waiting time. Recommendation: 1 PLC cycle.
Not required if consistent data transmission is used.
Setpoint values
Output data
Start
CPOS.START (B1)
Acknowledge Start
SPOS.ACK (B1)
Motion Complete
SPOS.MC (B2)
N − 1 N N + 1
1
0
1
0
1
0
1
0
N + 2
1 2 3 4
Fig. 3/11: Start the positioning task
The sequence of remaining control and status bits
behave according to record select operating mode.
See sections 3.3.1, Fig. 3/10.
1 The desired setpoint value (position, force) and the posiĆ
tioning condition (absolute/relative, speed or force ramp,
etc.) are set in the output data of the PLC.
SCON.FAULT must be 0 during the entire sequence.
2 With the rising edge at CPOS.START, the CMAX accepts
the setpoint values, starts the positioning task, sets
SPOS.MC = 0 and acknowledges the starting edge with
SPOS.ACK.