Festo CMMT-ST-SW, Оригинальное руководство пользователя

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Parameters Index.Subindex Name Data type
1515 0x2186.06 Fast jog 1 acceleration FLOAT32
1516 0x2186.07 Fast jog 1 jerk FLOAT32
526917 0x2186.08 Jogging state UINT32
214526 0x2186.09 Activation of symmetrical jog BOOL
214535 0x2186.12 Slow jog 2 velocity FLOAT32
214536 0x2186.13 Slow jog 2 acceleration FLOAT32
214537 0x2186.14 Slow jog 2 jerk FLOAT32
214539 0x2186.16 Jog duration 2 movement FLOAT32
214540 0x2186.17 Fast jog 2 velocity FLOAT32
214541 0x2186.18 Fast jog 2 acceleration FLOAT32
214542 0x2186.19 Fast jog 2 jerk FLOAT32
Tab. 277 Objects
Control and monitoring
Basic functions for jogging
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4.6.1 Function.
Requirements
– Controller enable (status Operation enabled)
– Jog mode is activated: object 0x6060 Modes of operation CiA402 = –3.
Feedback: object 0x6061 Modes of operation display CiA402 = –3.
Control
The object 0x6040 Control word CiA402 has the following specific bits in jog operating mode:
Bit Name Description
4 Jog positive Jogging 1 (positive direction)
5 Jog negative Jogging 2 (negative direction)
11 Jog with velocity 1 Optional: if the bit is set, jogging is with the dynamic values
for slow motion.
12 Jog with velocity 2 Optional: if the bit is set, jogging is with the dynamic values
for fast motion.
Tab. 278 Specific bits for jogging in the control word
If bits 4 and 5 are bot set, the drive does not move. If the other bit is also set during an active jog
motion, the drive stops.
Bits 11 and 12 also control the slow and fast velocity for jogging with a motion phase. If both bits are
not set, travel is first slow then fast (jogging with 2 motion phases). If both bits are set, there is no
motion.
The following dynamic values are applied depending on the P1.214526.0.0 parameter:
Motion control
303 Festo — CMMT-ST-SW — 2019-02