Instruction Manual

5. Commissioning
5−57
Festo P.BE−GDCP−SFC−LACI−PB−EN en 0812NH
6. Direct mode: Positioning mode
(requires status 1.3/2.3 and 4.)
Step/
Diti
Control bytes Status bytes
Description
Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0
6.1 Preselect
Byte 4 RVelocity Byte 4 RVelocity
6
.
1
Preselect
position and
speed
(control bytes 4
Velocity Speed preselection
(0 ... 100 %)
Velocity Velocity reply message
(0 ... 100 %)
(co
n
trol
bytes
4
and 5...8)
Byte 5...8 new Byte 5...8 new
and
5
...
8)
Set
point
(target)
position
Setpoint position
(increments)
Actual
position
Actual position
(increments)
6.2 Start task
Byte 1 OPM2 OPM1 LOCK  RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL
6
.
2
Start
task
CCON 0 1 x x 0 0 1 1 SCON 0 1 0 1 0 0 1 1
Byte 2  CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
CPOS x 0 0 0 0 0 F 1 SPOS 1 0 0 0 0 0 1 1
Byte 3 FUNC FAST XLIM VLIM CONT COM2 COM1 ABS Byte 3 FUNC FAST XLIM VLIM CONT COM2 COM1 ABS
CDIR 0 0 0 0 0 0 0 S SDIR 0 0 0 0 0 0 0 S
6.3. Order runs
Byte 1 OPM2 OPM1 LOCK  RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL
6
.
3
.
Order
runs
CCON 0 1 x x 0 0 1 1 SCON 0 1 0 1 0 0 1 1
Byte 2  CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
CPOS x 0 0 0 0 0 1 1 SPOS 1 0 0 1 0 0 1 1
6.4 Job finished
Byte 1 OPM2 OPM1 LOCK  RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 HMI 24VL FAULT WARN OPEN ENABL
6
.
4
Job
finished
CCON 0 1 x x 0 0 1 1 SCON 0 1 0 1 0 0 1 1
Byte 2  CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT
CPOS x 0 0 0 0 0 0 1 SPOS 1 0 0 0 0 1 0 1
0: 0−signal
1: 1−signal
x: not relevant (optional)
F: Edge positive
S: Positioning condition: 0 = absolute
1 = relactive
Tab.5/12: Control and status bytes Positioning mode Direct mode"