3. Drive functions
3−62
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Mode of action of the Start, Ack, MC and RCx signals
Signal
Bit Description
START CPOS.START Start of the first record of the record chaining
MC SPOS.MC End of the record chain
RC1 RSB.RC1 First record chain executed: After the first switch, bit 0 in the record
status byte (RSB) is set.
RCC RSB.RCC Record chain complete: At the end of positioning (MC=1), RCC is set to
show that all parametrised switches were executed.
RCE RSB.RCE Record chain error: A record switch has been parametrised which could
not be executed.
Tab.3/22: Record parameters
Special case: Switching between force and position
If there is a record switch with switching from force control to
position control without changing direction, the drive first
stops. This is necessary so that the forces which were built up
before can be relieved.
Only afterwards is the new target position approached.
Restriction:
Switching to a record with automatic profile
A record switch to a record with an automatic profile is only
possible with the switch condition MC".
If such a switch is set, a warning (W37) is signaled during
execution and the free profile is used.
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