Festo CMMS-ST Series User Manual

CONTENTS
Festo P.BE-CMMS-CO-SW-EN 1012a 7
5. Device Control....................................................................................................... 97
5.1 Status Diagram (State Machine).......................................................................... 97
5.1.1 Overview.............................................................................................. 97
5.1.2 Status diagram of the motor controller (State Machine) ...................... 98
5.1.3 controlword (control word) ................................................................ 102
5.1.4 Read-out of the motor controller status............................................. 105
5.1.5 statusword (Status words)................................................................. 106
6. Operating modes ................................................................................................ 111
6.1 Setting the operating mode............................................................................... 111
6.1.1 Overview............................................................................................ 111
6.1.2 Description of the Objects ................................................................. 111
6.2 Operating mode homing (Homing Mode) .......................................................... 113
6.2.1 Overview............................................................................................ 113
6.2.2 Description of the Objects ................................................................. 114
6.2.3 Reference Travel Processes ............................................................... 117
6.2.4 Control of Reference Travel................................................................ 121
6.3 Positioning Operating Mode (Profile Position Mode)......................................... 122
6.3.1 Overview............................................................................................ 122
6.3.2 Description of the Objects ................................................................. 123
6.3.3 Functional description ....................................................................... 127
6.4 Interpolated Position Mode............................................................................... 129
6.4.1 Overview............................................................................................ 129
6.4.2 Description of the Objects ................................................................. 130
6.4.3 Functional description ....................................................................... 135
6.5 Speed adjustment operating mode (Profile Velocity Mode) .............................. 137
6.5.1 Overview............................................................................................ 137
6.5.2 Description of the Objects ................................................................. 139
6.6 Torque regulation operating mode (Profile Torque Mode) ................................ 144
6.6.1 Overview............................................................................................ 144
6.6.2 Description of the Objects ................................................................. 145
7. Index
................................................................................................................... 149

Festo CMMS-ST Series Specifications

General

Brand	Festo
Model	CMMS-ST Series
Category	Controller
Language	English