User Manual

5. Commissioning
5−68
Festo GDCP−SFC−LACI−DN−EN en 0812NH
5.6.6 Direct mode: Specification of a position or force
In the status Operation enabled" a positioning task is
formulated directly in the I/O data which are transmitted via
the field bus. The setpoint value
s for position or force/torque
are managed in the PLC.
The function is used in the following situations:
moving to any position.
the target po
sitions are unknown during planning or
change frequently (several different work item positions).
A positioning profile using chained records
can be externally
implemented by the master.
Procedure for specifying a position
1. The user sets the desired setpoint values into the PLC
output data:
CDIR.B1/2:Positio
ning mode control mode, possibly
energy optimised,
CDIR.B0:Setpoint position absolute/relative
FHPP control byte 4: Velocity setpoint value,
FHPP
control bytes 5 ... 8:Position setpoint value
2. With a rising edge at START (CPOS.B1) the controller
accepts the setpoint position and starts the posi
tioning
job.
3. After the start, you must wait for MC (SPOS.B2) before a
new start can be made.
4. When the setpoint position is reached, MC
is set.