Festo CMMT-ST-SW, Original Instructions Manual

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4.1.5.1 Function..................................................................................................................220
4.1.5.2 CiA 402................................................................................................................... 222
4.1.6 Cyclic synchronised positioning mode (CSP)...........................................................225
4.1.6.1 Function..................................................................................................................225
4.1.6.2 CiA 402................................................................................................................... 229
4.1.7 Cyclic synchronised velocity mode (CSV)................................................................ 233
4.1.7.1 Function..................................................................................................................233
4.1.7.2 CiA 402................................................................................................................... 236
4.1.8 Cyclic synchronised force/torque mode (CST)........................................................ 239
4.1.8.1 Function..................................................................................................................239
4.1.8.2 CiA 402................................................................................................................... 241
4.1.9 Switch-on/off behaviour and closed-loop controller enable................................... 244
4.1.9.1 Function..................................................................................................................244
4.1.9.2 CiA 402................................................................................................................... 251
4.2 Stop...............................................................................................................................251
4.2.1 Function..................................................................................................................251
4.2.2 CiA 402................................................................................................................... 253
4.3 Hold...............................................................................................................................254
4.3.1 Function..................................................................................................................254
4.3.2 CiA 402................................................................................................................... 255
4.4 Homing..........................................................................................................................255
4.4.1 Function..................................................................................................................255
4.4.2 Timing.....................................................................................................................262
4.4.3 Homing methods.................................................................................................... 265
4.4.3.1 Method 37: Current position...................................................................................266
4.4.3.2 Method 33/34: current position with zero pulse in negative/positive direction......266
4.4.3.3 Method 17/18 negative/positive limit switch......................................................... 267
4.4.3.4 Method 1/2: negative/positive limit switch with zero pulse................................... 268
4.4.3.5 Method 23/27: positive/negative reference switch................................................ 269
4.4.3.6 Method 7/11: positive/negative reference switch with zero pulse......................... 270
4.4.3.7 Method -23/-27: positive/negative stop/limit switch with run to reference
switch .. 271
4.4.3.8 Method -17/-18 negative/positive stop..................................................................272
4.4.3.9 Method -1/-2 negative/positive stop with zero pulse............................................. 273
4.4.3.10 Travel to axis zero-point..........................................................................................274
4.4.4 CiA 402................................................................................................................... 275
4.5 Command for record selection...................................................................................... 279
4.5.1 Record selection..................................................................................................... 279
4.5.1.1 Function..................................................................................................................279
4.5.2 Record sequencing................................................................................................. 288
7 Festo — CMMT-ST-SW — 2019-02