Festo CMMT-ST-SW, Оригинальное руководство пользователя

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Parameters Index.Subindex Name Data type
101101 0x2189.02 Configure positive hardware limit switch UINT32
101112 0x2189.0D Negative hardware limit switch detected BOOL
101113 0x2189.0E Positive hardware limit switch detected BOOL
101114 0x2189.0F Negative limit switch position detected SINT64
101115 0x2189.10 Positive limit switch position detected SINT64
Tab. 304 Objects
5.6 Software limit position reached
SW limit reached SL
Monitoring of the software limit positions controls the traversing range of the drive.
The monitoring function includes:
–
Status evaluation of the SLN/SLP software limit positions
– Configuration check
– Limit position monitoring (optionally with automatic braking)
The limit position configuration is invalid if the negative limit position is greater or equal to the posit-
ive limit position.
The configuration check is only completed if limit position monitoring is activated (default).
The software limit positions relate to the axis zero point. A valid reference run must therefore be com-
pleted. The reference run can also be completed if the drive is outside the limit positions.
Application
– Protect the drive against damage:
Status SLP or SLN is set when the limit position is exceeded. The status is reset as soon as the
drive reaches the valid range again.
– Protect the drive against damage:
–
Limit position monitoring without automatic braking:
An error message is triggered if the limit position is reached or exceeded. The drive is stopped
depending on the set error response. The current direction of movement is blocked. Another
command in the blocked direction will not be executed. The block is removed when the drive
reaches the valid area again.
– Limit position monitoring with automatic braking:
Due to the current distance and speed, exceeding the limit position can be prevented by brak-
ing in time in record, interpolation and jog mode. The dynamic acceleration and jerk values
from the stop ramp parameters are used for the projection.
A message is triggered, and the parameterised error response is initiated, so that a standstill
can be achieved before the limit position, if possible. The current direction of movement is
blocked. Another command in the blocked direction will not be executed. The block is
removed when the drive reaches the valid area again.
Motion monitoring
322 Festo — CMMT-ST-SW — 2019-02