Motion quantities
Description
Activation of stroke limits
Stroke limit monitoring must be activated by parameters.
negative stroke limit
positive stroke limit
If the negative stroke limit is greater than or equal to the positive
stroke limit, the stroke limit is not effective.
Tab. 196 Motion quantities
Triggering commands
–
the record table
–
the fieldbus (direct mode)
Requirements for force/torque
–
Controller enable
Timing
1
8
.
0
6
.
0
4
.
0
2
.
0
0
--0.2
--0.1
0.0
0.1
0.2
0.3
0.4
0.5
1
8
.
0
6
.
0
4
.
0
2
.
0
0
--0.2
0.0
0.2
0.4
0.6
0.8
1.0
M
M/s
Fig. 48 Force/torque mode timing graph (example)
Name
Description
M
Torque
M/s
Torque increase
Tab. 197 Legend for force/torque mode timing graph
4.1.5.2
CiA 402
The following graphs show an overview of the objects involved in the force/torque mode and their
interaction with the trajectory generator:
Motion control
222
Festo — CMMT-ST-SW — 2019-02
Summary of Contents for CMMT-ST-SW
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