Motion monitoring function status word
Bit
Code
Name
effective
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
–
29
DEC
Drive decelerated
–
30… 31
–
Reserved
–
Tab. 195 Motion monitoring function
Detailed information on the monitoring functions
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Motion quantities
The path course of a positioning command is largely influenced by the following motion quantities:
Motion quantities
Description
Target torque
Target specification
Torque rise time
Minimum time for reaching the target torque
Speed limit value
Maximum velocity for reaching the target torque
Motion control
221
Festo — CMMT-ST-SW — 2019-02
Summary of Contents for CMMT-ST-SW
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