Festo Контроллер двигателя CMMD-AS - Manual (Page 40)

3. Product description
40 Festo P.BE-CMMD-AS-HW-EN 1002NH
Example "Homing Mode" via RS232
With the CAN access simulated via RS232, the CMMD-AS can also be operated in the CAN
"Homing Mode". The following describes the sequence in principle.
1. Changing of the controller enable logic
2. The controller enable logic can be converted via the COB 6010_10. Since the
simulation of the CAN interface over RS232 can be completely taken over, the enable
logic can also be converted to DINs + CAN.
Command: =651010:0002
3. As a result, the release can be granted via the CAN control word (COB 6040_00).
Command: =604000:0006 Command "Shutdown"
Command: =604000:0007 Command "Switch on / Disable Operation"
Command: =604000:000F Command “Enable Operation”
4. Activation of the "Homing mode"
5. The homing mode is activated via the COB 6060_00 (Mode of Operation).
Command: =606000:06 Homing mode
6. Start reference travel
7. Homing is started via the CAN control word (COB 6040_00):
8. Controller enable is controlled via bit 0 ... 3.
9. The homing is started via a rising edge at bit 4.
Command: =604000:001F
10. After homing has been ended, the status of the motor controller must be reset.
Command: =604000:000F Bring motor controller into "Ready" status
3.5.6 Control via RS485
The RS485 interface is on the same plug connector as the RS232 interface.
Communication must be activated separately by the user. RS232 messages can also be
received when RS485 communication is activated, which means that the device can be
accessed for configuration at all times.
Configuration in the FCT
For configuration, the following settings are required in the "Work station" window:
- On the "Application Data" page in the "Operating Mode Settings" tab, set the
control interface to "RS485".
- On the page "Controller, Control Interface, Digital I/O", do not activate the
"active" mode selection