Festo Контроллеры двигателя CMMS-ST - Manual (Page 71)

3. Product description
Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH 71
ENABLE
START / TEACH
STOP
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
–
1
0
+
(1)
(1)
DIN0 - DIN3
1
0
(1)
DOUT0 : READY
DOUT1: MC
DOUT2 : ACK- TEACH
DOUT3 : ERROR
t1 t1 tx tx t1 t1 t1
DIN11: Jog --
DIN10: Jog ++
Drive is moving
t1 = 1.6 ms
tx = x ms (dependent on brake ramps)
(1) Setting of the target position to be programmed
Fig. 3.12 Behaviour with teach input
3.5.15 Position record linking with positioning/torque control
switching
Positioning record linking allows multiple positioning jobs to be linked in a sequence.
These positions are travelled to one after another. The characteristics of positioning
record linking are:
• All 63 position records of the position record table can be set.
• Besides linear sequences, ring-shaped linkages are also allowed. (endless linkage)
• For each step, a free following position can be set.
• As step criterion, 2 digital inputs are available as NEXT 1 and NEXT 2.
• There are 7 possibilities to jump into position record linking with I/O control, that is,
7 different sequences are possible. Under FHPP, the entry is freely selectable and the
number limited only by the maximum number of position sets.
• The program lines are worked off every 1.6 ms. This ensures that a set output remains
set for at least 1.6 ms.