Parameter for selection of controller enable (Px.10232)
Value
Enable via ...
Description
Operating mode after
controller enable
request is sent via the device-specif-
ic plug-in.
4
Plug-in
The request of controller enable is
issued exclusively via the device-
specific plug-in (Ethernet interface).
Positioning mode
Tab. 223 Options for controller enable
If the device switches to operating mode on controller enable, a category 2 stop is executed
è
9.2 Classification of diagnostic events. After the switch-on delay has elapsed, new commands can
be processed.
Controller enable via CTRL-EN (Px.10232 = 1)
If the controller enable is issued exclusively via the CTRL-EN input, the operating mode defined by the
following parameters will be active after controller enable:
Operating mode parameters with controller enable (Px.10234)
Value
Operating mode
Description
4
Speed
On issue of controller enable the velocity mode is
activated. The device reacts as follows:
–
The actual velocity is used as the start velocity.
–
The parameterised target velocity is used as the
target velocity (Px.10235).
–
The parameterised values for the stop decelera-
tion are used as acceleration and jerk.
5
Item
On issue of controller enable the positioning mode is
activated. The device reacts as follows:
–
stop category 2
è
9.2 Classification of diagnostic events.
7
Torque
On issue of controller enable the torque mode is activ-
ated. The device reacts as follows:
–
The actual torque is used as the starting torque.
–
The parameterised target torque is used as the tar-
get torque (Px.10236).
–
The parameterised values for the stop are used as
acceleration and jerk.
Motion control
250
Festo — CMMT-ST-SW — 2019-02
Summary of Contents for CMMT-ST-SW
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