I/O Data In Direct Operating Mode - Festo CPX Series Manual

2. I/O data and sequence control

2.2.4 I/O data in direct operating mode

I/O data: Direct operating mode
Data Byte 1
Output CCON
data
Input SCON
data
Assignment of the control bytes (direct mode)
B7
CCON
OPM2
Byte 1 y
Mode selection
CPOS B7
Byte 2 y
CDIR B7
Byte 3 y
Second Setpoint, depending on control mode and FHPP setting (PNU 523)
Speed as percentage of default value (PNU 540)
ary set
Force ramp as percentage of default value (PNU 550)
point
Workpiece mass as percentage of default value (PNU 544 or PNU 551)
Byte 4
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 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.
setpoint
During tracking mode, the setpoint position is transferred continuously after the start until
Bytes
tracking mode is ended.
5 to 8
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Byte 2 Byte 3 Byte 4
CPOS CDIR Secondary
setpoint
SPOS SDIR Secondary
actual
value
Assignment of the control and status bytes (direct mode):
B6 B5
OPM1 LOCK
Block
software
access
B6 B5
CLEAR TEACH
Teach
value
B6 B5
FAST XLIM
Exact Deacti
stop/ vate
fast stop stroke
limit
Byte 5
Primary setpoint
(position, force)
Primary actual value
(actual position, force)
B4 B3
RESET
Reset
fault
B4 B3
JOGN JOGP
Jog nega Jog posi
tive tive
B4 B3
VLIM CONT
Velocity Tracking
limit mode
reached
Byte 6 Byte 7
B2 B1
BRAKE STOP
Release Stop
brake
B2 B1
HOM START
Start Start
homing positio−
ning task
B2 B1
COM2 COM1
Control Control
mode 2 mode 1
(profile) (position,
force)
Byte 8
B0
ENABLE
Enable
drive
B0
HALT
B0
ABS
Absolute/
relative
2−17