Festo Электромотор MTR-DCI - Manual (Page 163)

5. Commissioning
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Festo P.BE-MTR-DCI-PB-EN en 1209a
5.8.6 Direct mode: Specification of a position or force
In the “Operation enabled” status, a positioning task is for-
mulated directly in the I/O data, which are transmitted via the
fieldbus. The nominal values for position or forces are man-
aged in the PLC.
The function 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)
A positioning profile formed by linking records can be imple-
mented externally through the master.
Sequence for specification of a position:
1. The user sets the desired nominal position value and the
positioning mode (absolute/relative) in the PLC 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.