CSV
CSV-T
Objects
·
·
0x60FF
–
·
0x60B2
Tab. 215 Effective objects
Precondition for the cyclic synchronised velocity mode
The following conditions must be fulfilled for the cyclic synchronised velocity mode:
–
Modes of operation display (0x6061) = 9
–
Statusword (0x6061) = XX0X XX1X X011 0111
b
Monitoring
Object 0x6041: Statusword
The following statuses of cyclic synchronised velocity mode can be monitored with the object:
–
Bit 12: drive follows the command value (Drive follows the command value)
Bit
1)
Description
12
Drive follows the command value (Drive follows the command value)
0
Drive does not follow the command value for internal reasons (e. g. because a safety
function is active)
1
Drive is in Operation enabled status and follows the command value.
1) Signal status: 0 = low; 1 = high
Tab. 216 Monitoring cyclic synchronised velocity mode
4.1.8
Cyclic synchronised force/torque mode (CST)
4.1.8.1
Function
The cyclic synchronised force/torque 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 synchron-
ised with the synchronisation signal of the higher-order controller. The synchronisation signal is gen-
erally 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
–
Motion control
239
Festo — CMMT-ST-SW — 2019-02
Summary of Contents for CMMT-ST-SW
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