Continuous Setpoint Specification (Tracking Mode) - Festo CPX Series Manual

3. Drive functions

3.4.2 Continuous setpoint specification (tracking mode)

1
Setpoint value
Output data
0
1
Start
CPOS.START
0
1
Acknowledge Start
SPOS.ACK
0
1
Motion Complete
SPOS.MC
0
Fig. 3/12: Start the positioning task
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Continuous setpoint specification active
N
N − 1
1 2
1 Set the desired setpoint value (position, force) and the
speed setpoint in the output data of the PLC.
2 If SPOS.ACK = logic 0 1, the PLC can start the continuous
setpoint value mode with the rising edge at CPOS.START
2. The CMAX accepts the currently registered setpoint
value and the speed setpoint and starts the positioning
task.
3 As long as CPOS.START = 1, the setpoint value can be
changed at any time. The CMAX makes the axis position
follow the setpoint value and takes the set accelerations
and speeds into account.
4 The setpoint tracking is ended 4 with a falling edge at
CPOS.START 3.
The drive is stopped with a stop ramp.
N + 1 N +
19
N +
N +
20 21
3 4
3−73