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Product description
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Festo – GDCP-CMMO-ST-EA-SY-EN – 2017-05c – English
“Standstill monitoring” message
The standstill monitoring function checks in positioning mode if the actuator is within the standstill
window of the target position for the duration of the damping time (
è
After reaching the target position (“Motion Complete”) the standstill monitoring function is enabled. If
the actuator is moved during active standstill monitoring, e.g. by external forces for the duration of the
standstill window, the following response occurs:
–
The motor controller issues the diagnostic message “Actual position lies outside the standstill
window”.
(enabled = 1: Axis has left the standstill window; disabled = 0: Axis in standstill window).
–
The position controller attempts to return the actuator to the standstill window.
Motion Complete
Standstill monitoring
(enabled = 1, disabled = 0)
t
t
t
t
s
Quit standstill
window (message)
Target position
t1
t2
t2
1
2
t1: Damping time, Motion Complete
t2: Damping time, standstill monitoring
1
Positioning Window
2
Standstill window
Fig. 2.14 Standstill monitoring - example
The standstill monitoring cannot be switched on or off. It is disabled when the standstill window is set
to the value “0”.
The error management functionality of FCT makes it possible to parameterise the response to this
message (37F
h
) (
è
FCT error management).