6 Festo.P.BE-CMMS-ST-G2-HW-EN 1008NH
3.4.1 FHPP .................................................................................................... 45
3.4.2 CAN bus ............................................................................................... 46
3.4.3 PROFIBUS ............................................................................................ 47
3.4.4 DeviceNet ............................................................................................ 47
3.4.5 MTR-ST series stepper motors............................................................. 48
3.4.6 EMMS-ST series stepper motors.......................................................... 48
3.5 Function overview ............................................................................................... 48
3.5.1 Operating modes ................................................................................. 48
3.5.2 Timing diagram operation mode switchover ........................................ 50
3.5.3 Setpoint processing............................................................................. 51
3.5.4 Suppression of ranges ......................................................................... 51
3.5.5 I²t function........................................................................................... 52
3.5.6 Positioning controller........................................................................... 52
3.5.7 Homing ................................................................................................ 54
3.5.8 Timing diagrams for homing run .......................................................... 57
3.5.9 Trajectory generator ............................................................................ 59
3.5.10 I/O sequence control ........................................................................... 60
3.5.11 Error messages .................................................................................... 62
3.5.12 Behaviour when switching off enable .................................................. 62
3.5.13 Oscilloscope function .......................................................................... 64
3.5.14 Jog and teach function I/O ................................................................... 65
3.5.15 Position record linking with positioning/torque control switching....... 71
3.5.16 On-the-fly measurement ...................................................................... 77
3.5.17 Endless positioning.............................................................................. 77
3.5.18 Relative positioning records ................................................................ 78
4. Functional safety engineering .............................................................................. 79
4.1 General remarks and intended use...................................................................... 79
4.2 Integrated function “STO”................................................................................... 82
4.2.1 General remarks / description of “STO Safe Torque Off”..................... 82
4.2.2 STO timing diagram ............................................................................. 83
4.2.3 CMMS-ST STO sample circuit............................................................... 85
4.2.4 Explanations of the sample circuit ....................................................... 86
4.2.5 EMERGENCY STOP request, monitoring of protective doors ................ 86
4.2.6 Testing the safety function................................................................... 86
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