Positioning - Festo CPX Series Manual

2. I/O data and sequence control

2.3.2 Positioning

TA Internal conditions
TA1 Referencing is running.
TA2 Motion Complete = 1
The current record is completed. The next record
is not to be carried out automatically
TA5a Record select mode:
A single record is finished.
The next record is processed automatically.
TA5b Record select mode or direct mode:
A new positioning task has arrived.
TA7 Reference run (only with encoder measuring
system).
TA8 Referencing finished.
TA9
TA10
TA11
TA12
Key: P = positive edge, N = negative edge, x = any
TA3, TA4 and TA6 are reserved for future extensions.
Tab. 2/4: Positioning transitions
2−32
Note: CCON = xxx0.xx11 is also always considered to be a
permissible action.
Actions of the user
Start positioning task = 0→1
CPOS = 00x0.00P0
CPOS = 00xx.xxx0
CPOS = 00xx.xxx0
A start is not necessary.
CPOS = 00xx.xxP0
Start homing = 0→1
CPOS = 00x0.0Px0
CPOS = 00xx.xxx0
Jog positive = 0 → 1
CPOS = 00x0.Pxx0
Jog positive = 1→0
CPOS = 00xx.Nxx0
Jog negative = 0 → 1
CPOS = 00xP.xxx0
Jog negative = 1 → 0
CPOS = 00xN.xxx0
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH