Festo Контроллеры двигателя SFC-LAC - 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"