Festo Электромотор MTR-DCI - Manual (Page 144)

5. Commissioning
5-56
Festo P.BE-MTR-DCI-PB-EN en 1209a
5. Positioning by Record Select
(requires status 1.3/2.3 and 4.)
Step/
Description Control bytes Status bytes
Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0
5.1 Preselect record
number
(control byte 3) Byte3 Record number Byte 3 Record number
Re-
cord
no. Record no. (0..0.31) Re-
cord
no. Previous record no. (0...31)
5.2 Start positioning
task Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 0 x x 0 x 1 1 SCON 0 0 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 F 1 SPOS 1 0 0 0 0 0 1 1
5.3 Positioning task
in progress Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 0 x x 0 x 1 1 SCON 0 0 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 1 1 SPOS 1 0 0 1 0 0 1 1
Byte3 Record number Byte 3 Record number
Re-
cord
no. Record no. (0..0.31) Re-
cord
no. Current record no. (0..0.31)
5.4 Positioning task
concluded Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
CCON 0 0 x x 0 x 1 1 SCON 0 0 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 0 1 SPOS 1 0 0 0 0 1 0 1
Byte 5...8 Reserved Byte 5...8 Position
– Reserved Ac-
tual
posi-
tion Actual position (increments)
0: 0-signal; 1: 1-signal; x: not relevant (any); F: Edge positive
Tab. 5/13: Control and status bytes for “Positioning by Record Select”