Selecting Operating Mode - Festo CMXR-C1 Description

3 PLC interface MCP1
JOG control register CJOG
AXIS Number of the JOG axis
0 ... 8 corresponds to:
Travel in axes: A1.... A6, auxiliary axes A7 ... A9
Travel in Cartesian coordinates: X, Y, Z, A, B, C, AUX1 ... 3
If axes which do not exist are selected, then the last existing axis will
be selected, e.g. robot has 5 axes, axis 6 is selected, axis 5 is active.
COORD JOG coordinate system
Axis coordinate system
World coordinate system
Active reference system
Tool coordinate system
JOGN JOG bit negative direction
Manual movement in negative direction.
JOGP JOG bit positive direction
Manual movement in positive direction. If the CREG.JPENA bit is set,
then the target position is approached in the Jog position register
JOGPOS.
JOG status register
AXIS Active JOG axis
COORD Active JOG coordinate system
ESN Negative limit switch reached
ESP Positive limit switch reached

3.4.10 Selecting operating mode

The interface can be used to select two operating modes, MANUAL and AUTOMATIC.
The period of time for switching from one operating mode to another valid
operating mode is currently defined at 1.00 second.
The system behaviour for an invalid operating mode can be found in the
system manual ( GDCP-CMXR-SY-...).
26 Festo GDCP-CMXR-F-EN 1501b