6. Setting Parameters
88
Festo P.BE-CMMP-CO-SW-EN 0708NH
1
position_window
(6067
h
)
0
- position_window
(6067
h
)
position_window_time
(6068
h
)
statusword, Bit 10 (6041
h
)
time
position_difference =
position_demand_value (6062 ) - position_actual_value (6064 )
h
h
Fig. 6.6: Position reached – functional overview
The Fig. 6.7 shows how the window function is defined for the "position reached"
message. The area between xi-x0 and xi+x0 is defined symmetrically around the target
position (
target_position
) xi. For example, the positions xt0 and xt1 lie outside this
position window (
position_window
). If the drive is located in this window, a timer is
started in the motor controller. If this timer reaches the time specified in the object
position_window_time
and the drive continuously remains in the valid range between xi-
x0 und xi+x0 during this time, bit 10
target_reached
is set in the
statusword
. As soon as
the drive leaves the permissible range, both bit 10 and the timer are set to zero.
Fig. 6.7: Position reached
Summary of Contents for CMMP Series
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