Festo Электромотор MTR-DCI - Manual (Page 165)

5. Commissioning
5-67
Festo P.BE-MTR-DCI-DN-EN en 1209a
5.6.5 Direct task (Positioning mode, Force mode)
In the “operation enabled” state (direct mode) a positioning
task is formulated directly in the I/O data transmitted over
the Fieldbus. The position nominal values for positioning or
force mode are stored in the PLC.
A positioning profile based on sequencing of records can be
implemented by means of external control by the master.
Positioning mode
The positioning mode is used in the following situations:
– Moving to any position within the effective stroke.
– The target positions are unknown during planning or
change frequently (several different workpiece positions).
Sequence
1. The user configures the desired nominal value (position)
and the positioning condition (absolute/relative) in
his/her output data.
2. With a rising edge on START (CPOS.B1), the controller
accepts the nominal position and starts the positioning
task.
3. After the start you must wait for MC before a new start
can be made.
4. When the nominal position is reached, MC (SPOS.B2) is
set.