Festo CMMT-ST-SW, Original Instructions Manual

Page: 319 / 616

ID Dx. Name Description
07 | 02 | 00129
(117571713) Out of target range Drive has left the target range
Tab. 299 Diagnostic messages - Target area monitoring
5.4.1 CiA 402
Objects - Target area monitoring
Parameters Index.Subindex Name Data type
Px. Manufacturer-specific objects: saved basic unit for the object is effective.
4665 0x2166.35 Damping time target range FLOAT32
4666 0x2166.36 Monitoring window position FLOAT32
4667 0x2166.37 Monitoring window velocity FLOAT32
4668 0x2166.38 Monitoring window torque FLOAT32
Tab. 300 Objects
5.5 Hardware limit switch reached
HW limit switch reached HL
The positioning area is limited via a hardware limit switch for each limit position. The drive must be
positioned between the limit positions when the power supply is switched on.
A digital input for the positive or negative limit switch is assigned via the commissioning software.
Rewiring the digital inputs is not necessary and can be changed via the configuration.
The monitoring function includes:
–
Status evaluation of the limit switches
– Configuration check
– Limit switch monitoring
– Inverting and debouncing of the digital input signals
– Detection of the limit switch being exceeded
Application
– Protect the drive against damage:
An error message is triggered, and the corresponding error response is initiated if the hardware
limit switch is reached or exceeded. The current direction of movement is blocked. Another com-
mand in the blocked direction will not be executed. The lock is removed, if the drive initiates the
limit switch again when reaching the valid area.
– Record sequencing during record linking:
The record sequencing function can be implemented during record linking for applications that do
not need protecting against exceeding the limit position. The error response is parameterised as a
message for this purpose.
– Monitoring the direction of movement during reference run to a reference point.
– Use as reference point for a reference run method.
Motion monitoring
319 Festo — CMMT-ST-SW — 2019-02