Festo CMMT-ST-SW, Оригинальное руководство пользователя

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To... From...
PP PV PT CSP CSV CST HM PT-B
HM MC MC MC MC MC MC
–
MC
PT-B d d d d d d d
–
P a a a d d d d d
V a a a d d d d d
T a a a d d d d d
Tab. 177 Operating mode switch – part 1
Meaning
a The dynamic switch between the operating modes is possible at any time.
b Dynamic switching is possible.
Unwanted command value jumps after switching the operating mode must be avoided by
input corresponding command value specification by the user or by the higher-order PLC
(reconciliation between setpoint and actual value).
c One of the following conditions must be met for switching the operating mode:
–
The current motion command has been closed by MC.
– The current motion command has been aborted by a stop.
Once the request for a switch of operating mode has been accepted, no more motion
commands are accepted until the operating mode switch is complete (message).
Unwanted command value jumps after switching the operating mode must be avoided by
input corresponding command value specification by the user or by the higher-order con-
troller (reconciliation between setpoint and actual value).
d The current motion command must be terminated by a stop before the new operating
mode can be requested.
e The dynamic switching of the operating mode is possible at any time if the required com-
mand values for the operating modes are mapped in the cyclic process data
è
4.1.2 Operating modes for performing motion commands.
MC Motion complete
HM Homing
Tab. 178 Operating mode switch – part 2
4.1.2.2 CiA402
If a dynamic switch between the CSP, CSV and CST operating modes is required, the following objects
must be mapped in the cyclic process data:
–
Modes of operation (0x6060)
– Mode of operation display (0x6061)
– the required setpoint and actual values of the operating modes
Motion control
205 Festo — CMMT-ST-SW — 2019-02