3. Drive functions
3−24
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Standstill monitoring (SPOS.STILL)
The standstill warning bit indicates whether the drive has
moved again since reaching Motion Complete.
SPOS.STILL
Description
= 0 No movement
= 1 Warning: Drive moved after MC.
The bit remains set until the next start.
Tab.3/9: Standstill monitoring states
Properties:
Standstill monitoring is activated as soon as SPOS.MC = 1
is set. It is only executed when position control is active.
If Fast stop" is configured, standstill monitoring is deacti
vated (i.e. a standstill warning is not initiated, even if the
drive is still moving after MC)
.
Speed condition: The warning is set if the drive moved for
longer than a filter time T
F
of 30ms. The filter time pre
vents the warning from being initiated due to noise, etc.
Position condition: The warning is set if the drive has
moved relative to the MC position by more than half
the positioning tolerance, but at least by 0.1 mm or
0.004 in/s (=standstill tolerance). Here, the
drive may
move outside of the actual positioning tolerance.
One of the two conditions must be met in order for the
warning bit to be set. Here, no warning is entered in the
diagnostic memory. The warning bit is reset when the next
positioning task is started.
SPOS.STILL is reset when the controller
is disabled.
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