Festo CMMT-ST-SW, Original Instructions Manual

Page: 307 / 616

Code Motion monitoring function Detailed information
RDX Remaining distance monitoring
è
5.12 Remaining
distance monitoring
MC Trajectory completed
è
5.13 Trajectory
completed
REFS Reference switch activated
è
5.14 Reference switch
activated
TUR Torque utilisation exceeded
FSPR Fixed stop reached
ACC Drive accelerated
DEC Drive decelerated
Status display
Tab. 282 Overview of motion monitoring functions
Status word
The status of each motion monitoring function is provided in a status word within a bit, e.g. to contin-
ue commands based on the "Target reached" signal.
If a bit is set (1), the result for the associated motion monitoring function is "true".
The status word can be displayed via the Px.460 parameter.
Status word bit assignment
1)
Bit Code Name
0 TRX Target window reaches position
1 TRV Target window reaches velocity
2 TRT Target window reaches torque
3 FEX Following error position
4 FEV Velocity following error
6 TMX Position target area monitoring
7 TMV Speed target area monitoring
8 TMT Torque target area monitoring
9
…
11
–
Reserved
12 HLP Hardware limit switch reached positive
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
Motion monitoring
307 Festo — CMMT-ST-SW — 2019-02