4. Commissioning
4−30
Festo P.BE−CPX−CMA X−SYS−EN en 0908NH
3 After resetting CPOS.START and acknowledging SPOS.ACK
= 0, a new setpoint value can be written at any time.
There is no need to wait for MC.
The CMAX calculates the necessary steps internally to
execute the new positioning job. When a reversal of
direction is required, the drive is first braked, for
example, until speed = 0 is reached. Only after this
is the new setpoint position transferred to the controller.
No error message will be generated.
4 Once the last setpoint position is reached,
SPOS.MC = 1 is set.
Instructions:
As soon as the PLC detects the rising edge at SPOS.ACK,
it can assume
that MC is valid.
From the perspective of the PLC, the falling edge at MC
can come at the same time as the rising edge at ACK. 3
and 4 can then not be distinguished.
In the event of malfunctions, the job is not acknowledged
with SPOS.ACK. For this reason, the SCON.FAULT bit
must
always be evaluated, too.
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