Festo Электромотор MTR-DCI - Manual (Page 275)

B. Reference – Festo Handling and Positioning Profile (FHPP)
B-57
Festo P.BE-MTR-DCI-CO-EN en 1209a
B.3.2 Positioning
The following always applies:
Transitions T4, T6 and T7* always have priority.
TA Internal conditions Activities of the user
TA1 Referencing is running. Start positioning task = 0 →1
Stop = 1
CCON = xxx0.xx11
CPOS = 0xx0.00P1
TA2 Motion Complete = 1
The current record is completed. The next record
is not to be carried out automatically “Stop” state is optional
CCON = xxx0.xx11
CPOS = 0xxx.xxx0
TA3 Motion Complete = 0 Stop = 1 →0
CCON = xxx0.xx11
CPOS = 0xxx.xxx0
TA4 Stop = 1
Start positioning task = 0
→1
Clear remaining travel = 0
CCON = xxx0.xx11
CPOS = 00xx.xxP1
TA5 Record Select:
– An individual record is finished.
– The next record is to be processed 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 travel = 0 → 1
CCON = xxx0.xx11
CPOS = 01xx.xxxx
TA7 Start reference travel = 0 →1
Stop = 1
CCON = xxx0.xx11
CPOS = 0xx0.0Px1
Key: P = positive edge, N = negative edge, x = any