Festo CMMT-ST-SW, Original Instructions Manual

Page: 285 / 616

Command record type parameter (ID Px.1810)
Value Command record type Description Parameters depending on the
record type (record table field 1
... 7)
0 inactive no operation (none)
2 Stop ramp Stop with parameterised brake
ramp 1.
2. Deceleration
Jerk
3 Homing Start homing 1. Homing method as per
CiA402 including manufac-
turer-specific methods
1. Target velocity
2. Acceleration
3. Deceleration
4. Jerk
5. Activation of stroke limita-
tion
–
0: inactive
– 1: active
6. Negative stroke limitation
4 Speed Velocity mode with or without
stroke limitation:
7. Positive stroke limitation
1. Type of target specifica-
tion:
–
0: absolute
– 1: relative to the cur-
rent actual position
– 2: relative to the cur-
rent setpoint position
– 3: relative to the last
target position
– 4: relative to the cur-
rent capture position
2. Target position
3. Profile velocity
4. Acceleration
5. Deceleration
6. Jerk
5 Item Positioning mode (absolute or
relative):
7. End velocity
Motion control
285 Festo — CMMT-ST-SW — 2019-02