Controlling The Cmax In Direct Operating Mode - Festo CPX-CMAX-C1-1 Mounting, Installation And Diagnostics

4. Commissioning

4.5.3 Controlling the CMAX in direct operating mode

I/O data: Direct mode
Data Byte 1
O data CCON
I data SCON
Allocation of the control bytes (overview)
B7
CCON
OPM2
Byte 1 y
To select the operat
ing mode, see
Tab. 4/3
CPOS B7
Byte 2 y
B7
CDIR
Byte 3 y
Second Byte 4: Setpoint value, depending on the control mode and FHPP setting (PNU 523)
ary set Speed in percentage of the set value (PNU 540)
point Force ramp in percentage of the set value (PNU 550)
Mass in percentage of the set value (PNU 544 or PNU 551).
Primary Byte 5 ... 8: Setpoint value of the position or force in the configured system of units,
setpoint depending on the control mode.
4−20
Byte 2 Byte 3 Byte 4
CPOS CDIR Secondary
setpoint
SPOS SDIR Secondary
actual
value
B6 B5
OPM1 LOCK
Software
access
blocked
B6 B5
CLEAR TEACH
Teach
value
B6 B5
FAST XLIM
Exact Deacti
stop, fast vate
stop stroke
limit
Byte 5
Primary setpoint
(position, force)
Primary actual value
(actual position, actual force)
B4 B3
RESET
Acknow
ledge
malfunc
tion
B4 B3
JOGN JOGP
Jog, Jog, posi
negative tive
B4 B3
VLIM CONT
Speed Tracking
limit re mode
ached
Festo P.BE−CPX−CMA X−SYS−EN en 0908NH
Byte 6 Byte 7
B2 B1
BRAKE STOP
Release Stop
brake
B2 B1
HOM START
Start Start
homing position
ing job
B2 B1
COM2 COM1
Control Control
mode 2 mode 1
(profile) (position,
force)
Byte 8
B0
ENABLE
Enable
drive
B0
HOLD
B0
ABS
Absolute
/relative