Festo CMMT-ST-SW, Original Instructions Manual

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Parameters Index.Subindex Name Data type
12111 0x2180.02 Stop ramp jerk FLOAT32
Tab. 229 Objects
Triggering and monitoring
Object 0x6040: control word
The stop command is triggered via the object:
–
Bit 2: stop (quick stop)
The deceleration is specified by the 0x6085 object. For additional information
è 4.1 Operating modes.
Object 0x6041: status word
If stop has been requested and executed, bit 5 is reset to 0.
–
Bit 5: stop (quick stop active)
For additional information è 4.1 Operating modes.
4.3 Hold
4.3.1 Function
The reactions to the hold command depend on the active operating mode. If the cyclic synchronised
operation is active, the hold command is ignored. In other operating modes the current command is
aborted by the hold command and continued when the command is withdrawn.
Information on the operating modes
è 4.1.2 Operating modes for performing motion commands.
The stop ramp for the hold command in a profile operating mode is determined by the parameters val-
id for the operating mode
è 4.2 Stop.
Operating modes Reaction to ...
... the hold command ... Withdrawal of the
hold command
– PP
– P
– The motion com-
mand is continued
with reference to
parameters v, a
and j.
– HM (homing)
– The motion command is interrupted.
– The drive is braked and remains position-
controlled stationary with reference to para-
meters v, a and j.
– A message is generated.
– The homing is not
continued.
– PV
– V
– The motion command is interrupted.
– The drive is braked and remains position-
controlled stationary with reference to para-
meters a and j.
– A message is generated.
– The motion com-
mand is continued
with reference to
parameters a and j.
Motion control
254 Festo — CMMT-ST-SW — 2019-02