Festo Электромотор MTR-DCI - Manual (Page 171)

5. Commissioning
5-73
Festo P.BE-MTR-DCI-DN-EN en 1209a
Starting the positioning task / Force mode
Nominal torque
speed limiting
output data
Start CPOS.B1
Acknowledge Start
SPOS.B1 (ACK)
Motion Complete
SPOS.B2 (MC)
N – 1 N N + 1
1
0
1
0
1
0
1
0
1
0
Axis is moving
SPOS.B4 (MOV)
1
2 3 4
1
Nominal torque / force reached
2
Axis is pressing against resistance
3
Resistance removed / overcome
4
SW end position / stroke limit reached
Fig. 5/8: Starting the positioning task / Force mode
The signal “MC” (Motion Complete) is used in this control
mode to mean “nominal value/stroke limit reached”. The
sequence of the remaining control and status bits as well as
the functions Halt and Stop react in the same way as the
Record Select function; see Fig. 5/4, Fig. 5/5 and Fig. 5/6.