Festo CMMT-ST-SW, Оригинальное руководство пользователя

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Position specification Description
relative to the current setpoint
position distance referenced to the last setpoint position
relative to the last target posi-
tion distance referenced to the last target position
Tab. 179 Variations of positioning mode
Relative position specifications may result in an overflow of the internally mapped position. In the
event of an overflow the parameterised reaction is executed. The reaction must be taken into account
by a higher-order controller.
In positioning mode new commands can be triggered at any time. The current command may be abor-
ted, or the new command appended in a buffer. A jerk-free switch between the PP, PV and PT profile
operating modes is possible.
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
·
13 HLN Hardware limit switch reached negative
·
14 SLP Software limit position reached positive
·
15 SLN Software limit position reached negative
·
16 STX Standstill monitoring position/velocity
·
17 STV Standstill monitoring velocity
·
18 LS Stop reached
·
Motion control
207 Festo — CMMT-ST-SW — 2019-02