Instruction Manual

B. Supplementary information
B−6
Festo P.BE−GDCP−SFC−LACI−PB−E N en 0812NH
B.1.2 Positioning
Fundamentally, the following applies:
Transitions T4, T6 and T7* always have priority.
TA
Internal conditions Actions of the user
TA1 There is homing START = 0→1 (Start positioning)
HALT = 1
CCON = xxx0.xx11
CPOS = 0xx0.00P1
TA2 Motion Complete = 1
The current record is completed. The next
record is not to be carried out automatically
HALT" status is any
CCON = xxx0.xx11
CPOS = 0xxx.xxxx
TA3 Motion Complete = 0 HALT = 1→0
CCON = xxx0.xx11
CPOS = 0xxx.xxxN
TA4 START = 0→1 (Start positioning)
HALT = 1
CCON = xxx0.xx11
CPOS = 00xx.xxP1
TA5 Record selection:
A single record is finished
 The next record is processed
automatically
CCON = xxx0.xx11
CPOS = 0xxx.xxx1
Direct mode:
A new positioning task has arrived
CCON = xxx0.xx11
CPOS = 0xxx.xx11
TA6 CLEAR = 0→1 (clear remaining path)
CCON = xxx0.xx11
CPOS = 0Pxx.xxxx
TA7 HOM = 0→1 (start homing)
HALT = 1
CCON = xxx0.xx11
CPOS = 0xx0.0Px1
Key: P = positive edge
N= negative edge
x= any