Monitoring controller parameter set switchover
Object 0x2001.02: Status of the controller parameter set switchover
The status of the controller parameter set switchover is issued via the object:
Bit
1)
Description
0
Controller parameter set switchover not active
1
Controller parameter set switchover active
1) Signal status: 0 = low; 1 = high
Tab. 360 Status of the controller parameter set switchover
Object 0x2001.05: Return value of device access
The status of the device access is issued via the object:
Bit
1)
Description
0
Device access successful
1
Device access was aborted with an internal error
1) Signal status: 0 = low; 1 = high
Tab. 361 Return value of device access
6.2
Limitations
6.2.1
Limitation of application
The setpoint specifications for the trajectory generator are limited via the application limitation, which
are prescribed by the active set table or profile operating mode (positioning, velocity or force/torque).
During the test, the variables of movement "velocity (v), acceleration (a), deceleration (d) and torque
(M)" are compared with the specified limitations (jerk is not limited). If all setpoint values lie within
the specified limitations, the trajectory generator calculates the path course for the specified setpoint
values. If the setpoint values lie outside the limitation, the setpoint values are limited to the respect-
ive value and a corrected trajectory is calculated. The torque can be asymmetrically limited via the
minimum and maximum torque. If one of the setpoint values reaches the limit, this can be requested
via a status.
Control
359
Festo — CMMT-ST-SW — 2019-02
Summary of Contents for CMMT-ST-SW
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