Festo Контроллеры двигателя SFC-LAC - Manual (Page 162)

5. Commissioning
5−60
Festo GDCP−SFC−LACI−CO−EN en 0812NH
Step/Description Status bytes Control bytes Step/Description
B0 B1 B2 B3 B4 B5 B6 B7 Byte B0 B1 B2 B3 B4 B5 B6 B7 Byte
7.6 Task discontinued Byte 1 OPM2 OPM1 LOCK ć RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL 7.6 Task discontinued
(stroke limit or softĆ
ware end position
CCON 0 1 x x 0 0 1 1 SCON 0 1 0 1 0 0 1 1
ware end position
reached)
Byte 2 ć CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT reached)
CPOS x 0 0 0 0 0 x 1 SPOS 1 0 0 0 0 1 x 1
Byte 3 FUNC FAST XUM ć CONT COM2 COM1 ABS Byte 3 FUNC FAST XUM VUM CONT COM2 COM1 ABS
CDIR 0 0 S x 0 0 1 0 SDIR 0 0 1 0 0 0 0 0
7.7 Stop task (e.Ăg. Byte 1 OPM2 OPM1 LOCK ć RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL 7.7 Stop task (e.Ăg.
with STOP)
CCON 0 1 x x 0 0 0 1 SCON 0 1 0 1 0 0 0 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 x 1 SPOS 1 0 0 0 0 1 x 1
Byte 3 FUNC FAST XUM ć CONT COM2 COM1 ABS Byte 3 FUNC FAST XUM VUM CONT COM2 COM1 ABS
CDIR 0 0 S x 0 0 1 0 SDIR 0 0 0 0 0 0 0 0
0: Logic 0; 1: Logic 1; x: not relevant (optional); F: Edge positive
S: Path limitation (stroke limit): 0 = Stroke limit active, 1 = Stroke limit not active
Tab. 5/10: Control and status bytes Direct Mode Ĉ Force Mode"
Description of force mode:
When the readiness to operate is created and homing has
been carried out, a setpoint must be preselected and the
force control must be prepared.
7.1 Specify the setpoint value in % of the rated motor force.
Value range: 30...100% (values under 30% are rounded
up to 30%).
7.2 Prepare force control Set bit CDIR.B1 COM1 and if
desired set bit CDIR.B5 XLIM for the stroke limitation.
7.3 Start the job with CPOS.B1 START. The start is conĆ
firmed with SPOS.B1 (Acknowledge start) as long as
CPOS.B1 START is set.