Festo Электромотор MTR-DCI - Manual (Page 152)

5. Commissioning
5-54
Festo P.BE-MTR-DCI-DN-EN en 1209a
Step/
Description I data O data Step/
Description
B0 B1 B2 B3 B4 B5 B6 B7 Byte B0 B1 B2 B3 B4 B5 B6 B7 Byte
7.6 Positioning task
interrupted (stroke
limit or software end
position reached) Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
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 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 1 0 0 0 0 0
7.7 End positioning
task (e. g. with STOP) Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 1 x x 0 x 0 1 SCON 0 1 0 1 0 0 0 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 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 0 0
0: 0 signal 1: 1 signal; x: not relevant (any); F: Edge positive
S: Path limitation (stroke limit): 0 = stroke limit active, 1 = stroke limit not active
Tab. 5/15: I/O data Direct task: Force mode
If there are faults during Force mode:
see example 3, table 5/13 Fault handling.