Festo Контроллеры двигателя SFC-LAC - Manual (Page 155)

5. Commissioning
5−51
Festo GDCP−SFC−LACI−DN−EN en 0812NH
6. Direct mode: Positioning mode
(requiresĂstatusĂ1.3/2.3 and 4.)
Step/
D
i ti
Control bytes Status bytes
Description
Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0
6.1 Preselect Byte 4 RVelocity Byte 4 RVelocity 6.1 Preselect
position and
speed
(control bytes 4
Velocity Velocity preselect
(0 ... 100 %) Velocity Velocity reply message
(0 ... 100 %)
(control bytes 4
and 5 ... 8)
Byte 5...8 new Byte 5...8 new and 5 ... 8)
SetĆ
point
(target)
position Setpoint position
(increments) Actual
position Actual position
(increments)
6.2 Start task Byte 1 OPM2 OPM1 LOCK ć RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL 6.2 Start task
CCON 0 1 x x 0 0 1 1 SCON 0 1 0 1 0 0 1 1
Byte 2 ć 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
Byte 3 FUNC FAST XLIM VLIM CONT COM2 COM1 ABS Byte 3 FUNC FAST XLIM VLIM CONT COM2 COM1 ABS
CDIR 0 0 0 0 0 0 0 S SDIR 0 0 0 0 0 0 0 S
6.3. Order runs Byte 1 OPM2 OPM1 LOCK ć RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL 6.3. Order runs
CCON 0 1 x x 0 0 1 1 SCON 0 1 0 1 0 0 1 1
Byte 2 ć 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
6.4 Job finished Byte 1 OPM2 OPM1 LOCK ć RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL 6.4 Job finished
CCON 0 1 x x 0 0 1 1 SCON 0 1 0 1 0 0 1 1
Byte 2 ć 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
0: 0−signal
1: 1−signal
x: Not relevant (optional)
F: Positive edge
S: Positioning condition: 0 = absolute
1 = relative
Tab. 5/9: Control and status bytes Positioning mode Direct mode"