Festo Электромотор MTR-DCI - Manual (Page 135)

5. Commissioning
5-37
Festo P.BE-MTR-DCI-DN-EN en 1209a
CPOS Control byte 2 (CPOS) controls the positioning sequences as
soon as the drive is enabled.
Control byte 2 (CPOS) – Record selection and direct task
Bit EN Description
B0
HALT Halt = 1: “Halt” is not active.
= 0: “Halt” activated (braking ramp + do not cancel positioning task).
The axis stops with a defined braking ramp; the positioning task
remains active (the remaining positioning can be deleted with B6).
B1
START Start Posi-
tioning Task The current nominal values will be transferred and positioning started
(record 0 = homing) by means of a
rising edge.
B2
HOM Start Homing Homing with the defined parameters is started by means of a rising
edge.
B3
JOGP Jog positive The drive moves at the specified speed or rotational speed towards
larger actual values, while the bit is set. The movement begins with the
rising edge and ends with the falling edge.
B4
JOGN Jog negative The drive moves at the pre-set speed (rotation) towards lower actual
values; see bit 3.
B5
TEACH Teach actual
value At a falling edge the current actual position is imported into the setpoint
register of the current addressed positioning set; see section 5.6.3.
The Teach target is defined with PNU 520.
B6
CLEAR Clear
remaining
positioning
path In the “Halt” state a rising edge causes the positioning task to be
cleared and a transition to the “Ready” state
B7
– – Reserved
: =0