Festo CMMT-ST-SW, Оригинальное руководство пользователя

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Precondition for velocity mode
The following conditions must be fulfilled for velocity mode:
–
Modes of operation display (0x6061) = 3
– Statusword (0x6061) = XX0X XX1X X011 0111
b
Control and monitoring
NOTICE!
In velocity mode, start signal or starting edge is not required to start the motion.
Object 0x6040: Controlword
The object controls the following velocity mode functions:
–
Bit 8: stop motion command (Halt)
Bit
1)
Description
8
Stop/continue movement (Halt)
0 The motion is executed or continued
1 The motion is stopped with the stated deceleration (see object 0x6084, Profile decelera-
tion)
1) Signal status: 0 = low; 1 = high
Tab. 192 Control velocity mode
Object 0x6041: Statusword
The following statuses of velocity mode can be monitored with the object:
–
Bit 10: target velocity reached (Target reached)
– Bit 12: velocity (Speed)
– Bit 13: velocity following error (Following error)
Bit
1)
Description
13 12 10
Target velocity reached (Target reached) (depending on Bit 8 (Halt) in Controlword 0x6040)
x x 0 Halt = 0: target velocity was not reached
x x 1 Halt = 0: target velocity was reached
x x 0 Halt = 1: drive decelerated
x x 1 Halt = 1: velocity = 0
standstill message
x 0 x Geschwindigkeits-Istwert ≠ 0
x 1 x Geschwindigkeits-Istwert = 0
Velocity following error (Following error)
0 x x A velocity following error is not active
Motion control
219 Festo — CMMT-ST-SW — 2019-02