Festo Контроллеры двигателя CMMS-ST - Manual (Page 40)

3. Product description
40 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH
absolutely (0) or relatively (1).
Command: =604000:001F
Start absolute positioning or
Command: =604000:005F Start relative positioning
5. After positioning has been ended, the condition of the controller is reset so a new
positioning can be started.
6. Command: =604000:000F Bring controller into “Ready” state
Example “Homing Mode” via RS232
With the CAN access simulated via RS232, the CMMS-ST can also be operated in the CAN
“Homing Mode”. The following describes the sequence in principle.
1. Changing of the controller enable logic
2. The controller enable logic can be changed via the COB 6010_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.
3. Command: =651010:0002
4. As a result, the release can be granted via the CAN control word (COB 6040_00).
Command: =604000:0006 Command “Shutdown”
Command: =604000:0007 Command “Switch on / Disable Operation”
Command: =604000:000F Command “Enable Operation”
5. Activation of the “Homing mode”
6. The homing mode is activated via the COB 6060_00 (Mode of Operation).
7. Command: =606000:06
Homing Mode
8. Start homing
9. Homing is started via the CAN control word (COB 6040_00):
10. - Controller enable is controlled via BIT 0 ... 3.
11. - The homing run is started via a rising edge at bit 4.
12. Command: =604000:001F
13. After homing has been ended, the condition of the controller must be reset.
14. Command: =604000:000F
Bring controller into “Ready” state
3.3.7 Multi-firmware strategy
A firmware update can be achieved using any desired customer firmware through the
built-in SD card reader. See chapter
3.3.13 SD memory card.
3.3.8 Increment generator input
An optional increment generator mounted on the motor shaft is used to record the actual