Festo CMMT-ST-SW, Original Instructions Manual

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Operating modes Reaction to ...
... the hold command ... Withdrawal of the
hold command
– PT, PT-B
– T
– The motion command is interrupted.
– The force is reduced braked and the drive
remains position-controlled stationary with
reference to the force ramp.
– A message is generated.
– The motion com-
mand is continued
with reference to
the force ramp.
– CSP
– CSV
– CST
– Jogging
– The hold command is ignored. – The withdrawal of
the hold command
is ignored.
Tab. 230 Reaction to the hold command
4.3.2 CiA 402
Triggering and monitoring
Object 0x6040: control word
The hold command is triggered via the object:
–
Bit 8: hold (hold)
The deceleration is determined by the deceleration set in the operating mode. For additional informa-
tion
è 4.1 Operating modes.
Object 0x6041: status word
If hold is requested and executed in the PV operating mode (current velocity 0), bit 12 is set to 1.
–
Bit 12: velocity (speed)
If hold is requested and executed in other operating modes (current velocity 0), bit 10 is set to 1.
–
Bit 10: target position reached (target reached)
For additional information è 4.1 Operating modes.
4.4 Homing
4.4.1 Function
In order to be able to approach an absolute, unique position in the positioning range, the drive must
be homed to the dimensional reference system.
The homing of the drive includes:
–
Homing
– Definition of the axis zero-point
– Definition of the dimension reference system è 3.2.5 Measuring reference system
Reference mark
In the homing process the position of the reference mark is found in accordance with the selected
homing method. The reference mark is by default the absolute reference point for the dimensional ref-
erence system. A valid homing is required for all motion commands with the "position" target. Motion
commands with the "velocity, torque and jogging" targets cannot be run without a valid homing.
Motion control
255 Festo — CMMT-ST-SW — 2019-02