Festo Контроллеры двигателя CMMS-ST User Manual
Page 39
3. Product description
Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH
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The controller enable logic can be changed via the COB 6510_10. Since the
simulation of the CAN interface over RS232 can be completely taken over, the
enable logic can also be changed to DINs + CAN.
Command: =651010:0002
As a result, the release can be granted via the CAN control word (COB 60040_00).
Command: =604000:0006
Command “Shutdown”
Command: =604000:0007 Command “Switch on / Disable Operation”
Command: =604000:000F Command “Enable Operation”
2. Activation of the “Profile position mode”
The positioning mode is activated via the COB 6060_00 (Mode of Operation). This
must be written once, since all internal sectors must be set correctly thereby.
Command: =606000:01 Profile Position Mode
3. Write position parameters
The target position can be written over the COB 607A_00 (target position). The
target position is thereby written in “position units”. That means, it depends on the
set CAN factor group. The default setting here is 1 / 2
16
revolutions. (16 bit portion
before the point, 16 bit portion after the point.
Command: =607A00:00058000 Target position 5.5 revolutions
The speed of travel can be written via the COB 6081_00 (profile velocity), the final
speed via the COB 6082_00 (end velocity).
The speeds are thereby written in “speed units”. That means, they depend on the
set CAN factor group.
The default setting here is 1 / 2
12
revolutions/min. (20 bit portion before the point,
12 bit portion after the point.
Command: =608100:03E80000 Speed of travel 1000 RPM
The acceleration can be written via the COB 6083_00 (profile acceleration), the
deceleration via the COB 6084_00 (profile deceleration) and the quick stop ramp via
the COB 6085 (quick stop deceleration).
The acceleration is thereby written in “acceleration units”. That means, they depend
on the set CAN factor group.
The default setting here is 1 / 2
8
revolutions/min/s. (24 bit portion before the point,
8 bit portion after the point.
Command: =608300:00138800 Acceleration 5000 RPM/s
4. Start positioning
Positioning is started via the CAN control word (COB 6040_00):
1.
Controller enable is controlled via bit 0..3 (see above).
2.
The positioning is started over a rising edge at bit 4.
The following settings are taken over thereby.
3.
Bit 5 establishes whether an ongoing positioning is ended first
before the new positioning task is taken over (0), or whether the
ongoing positioning should be cancelled (1)
4.
Bit 6 establishes whether the positioning should be carried out