Festo CMMS-AS Series User Manual

B RS232 serial interface
Festo – GDCP-CMMS/D-FW-EN – 1404NH – Engli sh 239
h) Bit 6 establishes whether the positioning should be carried out absolutely (0) or relatively (1).
– Command: =604000:001F s tart absolu te pos itioning or
– Command: =604000:005F s tart r elative positioning
5. After positioning has been ended, the status of the controller must be reset so a new positioning
can be started.
– Command: =604000:000F bring controller into “Ready” state.
E x ample: “Homing mode” via the RS232 interface
With the C AN access simulated via the RS232 interface, the motor controller can also be operated in
the CAN “Homing mode”. The following describe s the sequence in principle.
1. Conversion of the controller enable logic
2. The c ontroller enable logic can be changed via the CAN control word ( COB 6010_ 10). Since the
simulation of the CAN interface can be completely taken over via the RS232 interface, the enable
logic can also be c onverted to DINs + CAN.
– Command: =651010:0002
3. As a result, the release can be granted via the CAN control word (COB 6040_00).
– Command: =604000:0006 c ommand “s hutdown”
– Command: =604000:0007 c ommand “s witch on/disable operation”
– Command: =604000:000F c ommand “Enable oper ation”
4. Ac tivation of the “Homing mode”
5. The reference mode is activated via the C AN c ontrol word ( COB 6060_00, Mode of Operation).
– Command: =606000:06 Homing mode
6. Star t homing
7. Homing is star ted via the CAN control word (COB 6040_00).
8. Controller enable is controlled via bit 0 … 3.
9. Homing is started via a rising edge at bit 4.
– Command: =604000:001F
10.After homing has been ended, the status of the motor controller must be reset.
– Command: =604000:000F bring controller into “Ready” state.

Festo CMMS-AS Series Specifications

General

Brand	Festo
Model	CMMS-AS Series
Category	Controller
Language	English