Festo CMMT-ST-SW, Original Instructions Manual

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Bit
1)
Description
13 12 10
1 x x Velocity following error limit reached
1) signal status: 0 = low; 1 = high; x = any
Tab. 193 Monitoring velocity mode
4.1.5 Force/torque mode (PT) with or without holding brake
4.1.5.1 Function
In the force/torque mode profile position operating mode the theoretical setpoint curve is calculated
by the integrated trajectory generator (Profile torque mode). The trajectory for the target torque is cal-
culated based on the torque rise time. The force/torque mode enables force control. In force/torque
mode the velocity and current regulators are active.
The transition to the new setpoint quantity can be influenced by parameterisation of the rise time.
The following variants are supported in force/torque mode:
Force/torque mode ... Description
with velocity and without stroke
limitation Force/torque with velocity limitation
with velocity and stroke limita-
tion Force/torque with velocity and stroke limitation
Tab. 194 Variants of force/torque
In force/torque mode new commands can be triggered at any time. The current command may be
aborted, or the new command appended in a buffer. A jerk-free switch between the PP, PV and PT pro-
file operating modes is possible.
Force/torque mode with brake (PT/B)
Force/torque mode with brake is a variant of force/torque mode in which a command for force/torque
control is executed with set brake.
Monitoring functions
The monitoring functions marked with a dot are effective in this operating mode:
Motion monitoring function status word
Bit Code Name effective
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
–
Motion control
220 Festo — CMMT-ST-SW — 2019-02