Control Byte 3 Cdir (Only For Direct Operation) - Festo CMMP-AS Manual

6. Control via FHPP

6.5.3 Control byte 3 CDIR (only for direct operation)

Control byte 3 in direct operation describes the type of positioning task more precisely.
Bit DE
B0 Absolut/
ABS Relativ
B1 Regelmodus
COM1
B2
COM2
B3 - B4 Funktions-
FNUM nummer
B5 - B6 Funktions-
FGRP gruppe
B7 Funktion
FUNC ausführen
For the function numbers 1 and 2 (pure synchronisation or synchronisation with cam disc),
the bits B0 ... B2 are not relevant (always position control).
73
EN Description
Absolute/ Relative = 0:
= 1:
Control Mode = 00:
= 01:
= 10:
= 11:
Function Number B3 – B4 are interpreted together as a number.
Value
0
1
2
3
Function Group B5 – B6 are interpreted together as a number.
Value
0
1
2
3
Execute = 0:
FUNCtion = 1:
Setpoint value is absolute
Setpoint value is relative to the last setpoint
Position control
Pressure/force control
Rotational speed / velocity
Reserved
Significance
Reserved
Synchronisation on external input
Synchronisation on external input with cam disc
function (i.e. slave with physical master)
Synchronisation on virtual master with cam disc
function
Significance
Synchronisation with/without cam disc
Reserved
Reserved
Reserved
Normal job
Execute function (bit 3...6)
Festo.P.BE-CMMP-CAM-SW-EN en 1105a