Festo CMMT-ST-SW, Original Instructions Manual

Page: 214 / 616

In velocity mode new commands can be triggered at any time. The current command may be aborted,
or the new command appended in a buffer. A jerk-free switch between the PP, PV and PT profile oper-
ating modes is possible.
Monitoring functions
The monitoring functions marked with a dot are effective in this operating mode:
Motion monitoring function status word
Bit Code Name effective
0 TRX Target window reaches position
–
1 TRV Target window reaches velocity
·
2 TRT Target window reaches torque
–
3 FEX Following error position
–
4 FEV Velocity following error
·
6 TMX Position target area monitoring
–
7 TMV Speed target area monitoring
·
8 TMT Torque target area monitoring
–
9…11 – Reserved
–
12 HLP Hardware limit switch reached positive
·
13 HLN Hardware limit switch reached negative
·
14 SLP Software limit position reached positive
·
15 SLN Software limit position reached negative
·
16 STX Standstill monitoring position/velocity
·
17 STV Standstill monitoring velocity
·
18 LS Stop reached
·
19 STLP Stroke limit reached positive
·
20 STLN Stroke limit reached negative
·
21 VM Speed monitoring
·
22 PB Pushback monitoring
–
23 RDX Remaining distance monitoring
·
24 MC Trajectory completed
·
25 REFS Reference switch activated
·
26 TUR Torque utilisation exceeded
–
27 FSPR Fixed stop reached
–
28 ACC Drive accelerated
·
Motion control
214 Festo — CMMT-ST-SW — 2019-02