Specifications

Integrating FB20 in the PLC program
68 01.00|FB20|en
• bio_1_fkt_io and bio_1_fkt_nio
These two signals output status before the control function.
• bio_1_fkt_io
If the control function has been executed successfully, the cur-
rent is on 1/True.
• bio_1_fkt_nio
If the function was not executed or aborted, a 1/True will be
given out.
• by_fkt_mod = Control mode
Specification of the appropriate cmd command number for ex-
ecuting the control mode. The following values are valid:
– CMD (Hex.b0): move pos
– CMD (Hex.b1): move pos time
– CMD (Hex.b3): move cure
– CMD (Hex.b5): move vel
– CMD (Hex.b7): move grip
– CMD (Hex.b8): move pos rel
– CMD (Hex.b9): move pos time rel
– CMD (Hex.c1): exe phrase
More information on the CMD commands can be found in the
"Schunk Motion Tool" manual.
A special function is started with the value by_fkt_mod = #16#ff.
This special function makes it possible to control the drive via the
speed setting and the value of the current. Here, the requirements
of rei_sw_v_reg and rei_sw_i are updated repeatedly.