Commissioning 5−57, 1 preselect position – Festo Контроллеры двигателя SFC-LAC User Manual

Page 159

Advertising
background image

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"

Advertising