Festo CMMT-ST-SW, Оригинальное руководство пользователя

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Message type Description
Diagnostic messages Signal relating to a malfunction or error, in part with parameterisable error
responses.
–
Ignore
– Information copies
– Warning
– Stop category 0
– Stop category 1
– Stop category 2
Tab. 285 Message types
5.2 Target window reached
Target reached TRx
The function indicates whether the target value has been reached following the start of a command.
Depending on the operating mode, various target values are monitored simultaneously with a compar-
ator during this process. Each comparator is defined by a monitoring window and the damping time.
The damping time is set via the same parameter in all operating modes.
Timing
Status signal TR…
Initial state of TRX, TRV, TRT signals = 1
The signal is set under the following conditions:
–
The difference (current actual value / target value) is within the monitoring win-
dow
– AND this condition is fulfilled for at least the specified damping time.
The signal remains set until a new command is started.
For positioning commands with a final speed that is not equal to 0, the signal is set
if the target position is reached and the final speed remains in the monitoring win-
dow for the duration of the damping time.
0
à
1
The signal is reset under the following conditions:
–
A command is started.
If the command has already been executed and it is restarted, all of the correspond-
ing signals are reset and then set again for at least one cycle of the servo drive (typ-
ically 1 ms).
1
à
0
Tab. 286 Status signals - Target window reached (dependent on operating mode)
Motion monitoring
310 Festo — CMMT-ST-SW — 2019-02