User Manual

5. Commissioning
5−37
Festo GDCP−SFC−LACI−DN−EN en 0812NH
CPOS Control byte 2 (CPOS) controls the positioning sequences as
soon as the drive is enabled.
Control byte 2 (CPOS)
Bit EN Description
B0
HALT
Halt = 1: HALT is not active
= 0: HALT is activated. The axis stops with a defined braking
ramp, the positioning job remains active (wi
th B6 the
remaining path can be deleted)
B1
START
Start positioning job With a rising edge the current setpoint data will be
transferred and positioning started (record 0 = homing run)
B2
HOM
Start Homing With a rising edge homing is started with the set
parameters.
B3
JOGP
Jog positive The drive moves at the specified speed in the direction of
larger actual values, providing the bit is set. The movement
begins with the rising edge and ends with the falling edge.
B4
JOGN
Jog negative The drive moves in the direction of smaller actual values,
seebit3.
B5
TEACH
Teach actual value With a falling edge the current actual value of the position
will be transferred to the setpoint value register of the
currently addressed positioning task, see section 5.6.3.
The teach target is defined with PNU 520.
B6
CLEAR
Clear Remaining Position In the HALT" status, a signal edge causes the positioning
task to be deleted and transfer is made to the Ready"
status.
B7

 Reserved, must be set to 0