Festo Контроллеры двигателя SFC-LAC - Manual (Page 176)

5. Commissioning
5−74
Festo GDCP−SFC−LACI−CO−EN en 0812NH
5.6.6 Direct mode: Specification of a position or force
In the status Operation enabled" a positioning task is formuĆ
lated directly in the I/O data which are transmitted via the
field bus. The setpoint values for position or force/torque are
managed in the PLC.
The function is used in the following situations:
ć Moving to any position.
ć The target positions are unknown during planning or
change frequently (several different work item positions).
A positioning profile using chained records can be externally
implemented by the master.
Procedure for specifying a position:
1. The user sets the desired position setpoint, the speed,
and the mode (absolute/relative/energy optimised) into
the PLC output data.
2. With a rising edge at START (CPOS.B1) the controller acĆ
cepts the setpoint position and starts the positioning job.
3. After the start, you must wait for MC (SPOS.B2) before a
new start can be made.
4. When the setpoint position is reached, MC is set.