Festo CMMT-ST-SW, Original Instructions Manual

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Motion monitoring function status word
Bit Code Name effective
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. 209 Motion monitoring function
Detailed information on the monitoring functions
è
5 Motion monitoring.
Motion quantities
The path course of a positioning command is largely influenced by the following motion quantities:
Motion quantities Description
Nominal velocity The higher-order PLC supplies the setpoint velo-
city.
Torque Pilot control values for the torque can also be
specified (optional).
Tab. 210 Motion quantities
Requirements
– valid homing
– Controller enable
Motion control
234 Festo — CMMT-ST-SW — 2019-02