Object 0x6041: Statusword
The following statuses of positioning mode can be monitored with the object:
–
Bit 10: target position reached (Target reached)
–
Bit 12: motion command acknowledged (Set-point acknowledge)
–
Bit 13: position following error (Following error)
Bit
1)
13
12
10
Description
Target position reached (Target reached) (depending on Bit 8 (Halt) in Controlword 0x6040)
x
x
0
Halt = 0: target position has not yet been reached
x
x
1
Halt = 0: target position has been reached
x
x
0
Halt = 1: drive decelerated
x
x
1
Halt = 1: velocity = 0
Motion command acknowledged (setpoint acknowledge)
x
0
x
Wait for new motion command
x
1
x
Motion command has been acknowledged
Position following error
0
x
x
Position following error in tolerance range
1
x
x
Position following error limit reached
1) Signal status: 0 = low; 1 = high
Tab. 186 Monitoring positioning mode
4.1.4
Velocity mode (PV)
4.1.4.1
Function
In the velocity mode profile position operating mode, the theoretical velocity curve is calculated by the
integrated trajectory generator (Profile velocity mode). The trajectory for the target velocity is calcu-
lated based on the motion quantities for the profile velocity, the acceleration, the deceleration and the
jerk.
In velocity mode the velocity and current regulators are active.
The following types of velocity settings are supported in velocity mode:
Velocity specification
Description
... with stroke limitation
When the stroke limit is reached, the device reacts in accordance
with parameterised STL monition monitoring
è
... without stroke limitation
Velocity mode without path limitation
Tab. 187 Types of velocity mode
Motion control
213
Festo — CMMT-ST-SW — 2019-02
Summary of Contents for CMMT-ST-SW
Page 615: ......
