Object 0x6040: Controlword
NOTICE!
In force/torque mode, start signal or starting slope is not required to start movement.
The object controls the following force/torque mode functions:
–
Bit 8: stopping, initiating or continuing movement (Halt)
Bit
1)
Description
8
Stop/continue movement (Halt)
0
The motion is executed or continued.
1
The motion is stopped with the stated torque ramp (see object 0x6087, Torque slope)
1) Signal status: 0 = low; 1 = high
Tab. 199 Controlling force/torque mode
Object 0x6041: Statusword
The following statuses of force/torque mode can be monitored with the object:
–
Bit 10: target reached (Target reached)
Bit
1)
Description
10
Target reached (Target reached) (depending on Bit 8 (Halt) in Controlword 0x6040)
0
Halt = 0: force/torque has not yet been reached.
1
Halt = 0: force/torque has been reached.
0
Halt = 1: drive decelerated
1
Halt = 1: velocity = 0
1) Signal status: 0 = low; 1 = high
Tab. 200 Monitoring force/torque mode
4.1.6
Cyclic synchronised positioning mode (CSP)
4.1.6.1
Function
Cyclic synchronised positioning mode enables command values to be pre-set for the device in a fixed
time grid using the drive profile (SYNC interval). The import of the command values is synchronised
with the synchronisation signal of the higher-order controller. The synchronisation signal is generally
slower by a whole number than the cycle of the closed-loop controller. The synchronisation time is
generally set by the higher-order PLC (synchronisation time 1 … 20 ms, step 1 ms,
è
Px.1051). The
integrated fine interpolator therefore calculates intermediate support points and derivations from the
setpoint quantity for the closed-loop controller (interpolation).
Monitoring functions
The monitoring functions marked with a dot are effective in this operating mode:
Motion control
225
Festo — CMMT-ST-SW — 2019-02
Summary of Contents for CMMT-ST-SW
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