User Manual
5. Commissioning
5−52
Festo GDCP−SFC−LACI−DN−EN en 0812NH
Description of direct mode positioning mode
(step 6.1 ... 6.4 conditional sequence)
When the readiness to operate is created and the reference
travel has been carried o
ut, a setpoint position must be
preselected.
6.1 The setpoint position in increments is transferred to
bytes 5 ... 8 of the output word.
The setpoi
nt speed is transferred in % of the base value
in byte 3 (0 = no speed; 100 = base value).
6.2 With CPOS.B1 START the preselected positioning
task
will be star ted. The start is confirmed with SPOS.B1
(Acknowledge start) as long as CPOS.B1 START is set.
6.3 Movement of the axis is shown with
SPOS.B4 MOV.
6.4 At the end of the positioning task, SPOS.B2 MC
(MotionComplete) will be set.
If there are faults dur ing positioning:
} Fault handling:
see example 3, Tab.5/6