Festo Электромотор MTR-DCI - Manual (Page 294)

B. Supplementary information
B-88
Festo P.BE-MTR-DCI-PB-EN en 1209a
B.3.2 Positioning
The following always applies:
Transitions T4, T6 and T7* always have priority.
TA Internal conditions Actions of the user
TA1 Homing has been carried out. Start positioning task = 0 →1
Halt = 1
CCON = xxx0.xx11
CPOS = 0xx0.00P1
TA2 Motion Complete = 1
The current record has been completed. The
next record is not to be executed automatically “Halt” state is any
CCON = xxx0.xx11
CPOS = 0xxx.xxx0
TA3 Motion Complete = 0 Halt = 1 →0
CCON = xxx0.xx11
CPOS = 0xxx.xxx0
TA4 Halt = 1
Start positioning task = 0
→1
Clear remaining positioning = 0
CCON = xxx0.xx11
CPOS = 00xx.xxP1
TA5 Record Select:
– An individual record has been completed.
– The next record is to be executed automati-
cally.
CCON = xxx0.xx11
CPOS = 0xxx.xxx1
Direct mode:
– A new positioning task has arrived.
CCON = xxx0.xx11
CPOS = 0xxx.xx11
TA6 Clear remaining positioning = 0
→ 1
CCON = xxx0.xx11
CPOS = 01xx.xxxx
TA7 Start homing = 0 →1
Halt = 1
CCON = xxx0.xx11
CPOS = 0xx0.0Px1
Key: P = positive edge, N = negative edge, x = any