
5
Commissioning
108
Festo – GDCP-CMMO-ST-EA-SY-EN – 2017-05c – English
DOUT
Mode 0: Normal operation
Mode 1: Jogging and teaching
Pin
1
Motion
complete
Target position, target
force or target speed
reached.
Motion
complete
Target position reached.
X1.12
2
START ACK
Confirmation of the start
of a record
TEACH ACK
confirmation of successful
teaching
X1.13
3
PAUSED/
STOPPED
The actuator has been
stopped
STOPPED
The actuator has been
stopped.
X1.14
4
MOVING
The drive moves.
X1.15
5
ERROR
An error has occurred.
X1.16
6
parameterisable
è
FCT [...][Controller][I/O Configuration] Digital Outputs
X1.17
7
X1.18
8
IN ZONE
The drive is located within the configured position zone of the current
position record, i.e. within the position comparators.
X1.19
9
REFER
ENCED
The drive is referenced.
X1.20
10
Ready
The drive is ready for operation.
X1.21
11
TORQUE
LIMIT
REACHED
Force compensation reached. Only for positioning and speed mode.
X1.22
Tab. 5.12 Binary profile function of the digital outputs
Force limitation (TORQUE LIMIT REACHED) in closed-loop control mode
By parameterisation of force limitation in the FCT, a load limit can be displayed on the
digital output DOUT X1.11 at which the motor is no longer able to follow the position
sequence (following error). An additional following errors message is not then issued.