2. I/O data and sequence control
2−17
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
2.2.4 I/O data in direct operating mode
I/O data: Direct operating mode
Data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Output
data
CCON CPOS CDIR Secondary
setpoint
Primary setpoint
(position, force)
Input
data
SCON SPOS SDIR Secondary
actual
value
Primary actual value
(actual position, force)
Assignment of the control and status bytes (direct mode):
Assignment of the control bytes (direct mode)
CCON
Byte 1
B7
OPM2
B6
OPM1
B5
LOCK
B4
B3
RESET
B2
BRAKE
B1
STOP
B0
ENABLE
Mode selection Block
software
access
Reset
fault
Release
brake
Stop Enable
drive
CPOS
Byte 2
B7
B6
CLEAR
B5
TEACH
B4
JOGN
B3
JOGP
B2
HOM
B1
START
B0
HALT
Teach
value
Jog nega
tive
Jog posi
tive
Start
homing
Start
positio−
ning task
CDIR
Byte 3
B7
B6
FAST
B5
XLIM
B4
VLIM
B3
CONT
B2
COM2
B1
COM1
B0
ABS
Exact
stop/
fast stop
Deacti
vate
stroke
limit
Velocity
limit
reached
Tracking
mode
Control
mode 2
(profile)
Control
mode 1
(position,
force)
Absolute/
relative
Second
ar y set
point
Byte 4
Setpoint, depending on control mode and FHPP setting (PNU 523)
Speed as percentage of default value (PNU 540)
Force ramp as percentage of default value (PNU 550)
Workpiece mass as percentage of default value (PNU 544 or PNU 551)
Value range 0 to 100, no sign given. Impermissible setpoint values are limited. For the
Workpiece mass" secondary setpoint, 100% of the basic value is always used for the
speed or force ramp.
The setpoint value is transferred to CPOS.START with a positive edge.
Primary
setpoint
Bytes
5 to 8
Setpoint value of the position or force in the set system of units (section B.1).
The setpoint value is transferred to CPOS.START with a positive edge.
During tracking mode, the setpoint position is transferred continuously after the start until
tracking mode is ended.
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