Commissioning 5−57, 1 preselect position – Festo Контроллеры двигателя SFC-LAC User Manual
Page 159
5. Commissioning
5−57
Festo GDCP−SFC−LACI−CO−EN en 0812NH
6. Direct mode: Positioning mode
(requires states 1.3/2.3 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 position
Byte 4
RVelocity
Byte 4
RVelocity
6.1 Preselect position
and speed
(control bytes 4 and
5 8)
VelĆ
ocity
Velocity preselect
(0...100%)
VelĆ
ocity
Velocity reply message
(0...100%)
5...8)
Byte 5...8
Position
Byte 5...8
Position
SetĆ
point
pos.
Setpoint position
(increments)
Act.
pos.
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. Task running
Byte 1
OPM2
OPM1
LOCK
ć
RESET BRAKE
STOP
ENABL
Byte 1
OPM2 OPM1
HMI
24VL
FAULT WARN
OPEN ENABL
6.3. Task running
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 Task finished
Byte 1
OPM2
OPM1
LOCK
ć
RESET BRAKE
STOP
ENABL
Byte 1
OPM2 OPM1
HMI
24VL
FAULT WARN
OPEN ENABL
6.4 Task 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: Logic 0;
1: Logic 1;
x: not relevant (optional);
F: Edge positive
S: Positioning condition: 0 = absolute; 1 = relative
Tab. 5/9: Control and status bytes Positioning mode Direct Mode"