Festo CMMT-ST-SW, Original Instructions Manual

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– Jogging 1 (positive direction)
– Jogging 2 (negative direction)
Jogging for unreferenced drives is restricted by hardware limit switches or stops. The motion limits for
jogging with referenced drives monitored by the software end positions. If the drive is in an invalid
positioning range (outside the software limit switches), it may only move in the direction of the valid
positioning range. In this state jogging commands in the direction of the invalid positioning range are
ignored.
If jogging the drive moves it further in the blocked direction, the message defined depending on the
software limit position monitoring function is generated. This is also applicable for the hardware limit
switch monitoring function, for both referenced and unreferenced drives.
Tasks
Jogging mode supports the following tasks:
–
Approaching teach positions (e. g. in commissioning)
– Drive free running (e. g. after a system malfunction)
– manual travel as standard operating mode
Feedback
Standstill monitoring STV.
Phases
Different jogging variants are possible depending on the device profile and parameterisation:
–
One phase (slow only or fast only)
– 2 phases (slow first then fast)
– symmetrical dynamic value record, same dynamic values for jogging 1 (positive direction) and jog-
ging 2 (negative direction)
– asymmetrical dynamic value record, different dynamic values for jogging 1 (positive direction) and
jogging 2 (negative direction)
– incremental (relative positioning at specific distance – for PROFIdrive AC3 only)
Jogging in the plug-in supports jogging in 2 phases and with symmetrical or asymmetrical dynamic
value records. Incremental jogging is not supported here.
Timing
The jogging motion consists of the following motion phases for jogging in 2 phases:
–
Phase 1: motion at a slower velocity for precise positioning motions. (dynamic parameter record
"slow")
– Phase 2: motion at a faster velocity for fast traversing through longer distances. (dynamic para-
meter record "fast")
– Phase 3: motion is stopped.
Motion control
297 Festo — CMMT-ST-SW — 2019-02