Festo CMMT-ST-SW, Original Instructions Manual

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Bit
1)
Description
13 12
Drive follows the command value (Drive follows the command value)
x 0 Drive does not follow the command value for internal reasons (e. g. because a
safety function is active)
x 1 Drive in operation enabled status and follows the command value.
Position following error (Following error)
0 1 Position following error in tolerance range
1 1 Position following error limit reached
1) Signal status: 0 = low; 1 = high
Tab. 208 Monitoring cyclic synchronised positioning mode (CSP)
4.1.7 Cyclic synchronised velocity mode (CSV)
4.1.7.1 Function
The cyclic synchronised velocity mode enables command values to be pre-set for the device in a fixed
time grid using the drive profile (SYNC interval). The import of the command values is synchronised
with the synchronisation signal of the higher-order controller. The synchronisation signal is generally
slower by a whole number than the cycle of the closed-loop controller. The synchronisation time is
generally set by the higher-order PLC (synchronisation time 1 … 20 ms, step 1 ms,
è
Px.1051). The
integrated fine interpolator therefore calculates intermediate support points and derivations from the
setpoint quantity for the closed-loop controller (interpolation).
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
–
7 TMV Speed target area monitoring
–
8 TMT Torque target area monitoring
–
9…11 – Reserved
–
12 HLP Hardware limit switch reached positive
·
Motion control
233 Festo — CMMT-ST-SW — 2019-02