Festo Электромотор MTR-DCI User Manual
Page 148
5. Commissioning
5-50
Festo P.BE-MTR-DCI-DN-EN en 1209a
6. Direct task: Positioning mode
(requires status 1.3/2.3 and 4.)
Once “ready to operate” is established and homing has been
carried out, a nominal position must be preselected
(sequence depends on steps 6.1 ... 6.4)
6.1
The nominal position is transferred in increments in
bytes 5...8 of the output word.
The nominal speed is transferred in % in byte 3
(0 = no speed; 100 = max. speed).
6.2
With CPOS.B1 (START, Start positioning task) the
preselected positioning task is started. The start is
confirmed with SPOS.B1 (Acknowledge start) as long as
CPOS.B1 (START) is set.
6.3
Movement of the axis is shown with SPOS.B4 (MOV,
Axis is moving).
6.4
At the end of the positioning task, SPOS.B2 (MC,
Motion Complete) is set.
If there are faults during positioning:
} Fault handling: see example 3, Tab. 5/11.