Festo CMMT-ST-SW Original Instructions Manual page 8

4.5.2.1 Function................................................................................................................. 288
4.5.3 Monitoring of events.............................................................................................. 293
4.5.3.1 Function................................................................................................................. 293
4.5.4 CiA 402.................................................................................................................. 295
4.6 Jog mode....................................................................................................................... 296
4.6.1 Function................................................................................................................. 296
4.6.2 CiA 402.................................................................................................................. 302
5 Motion monitoring........................................................................................................304
5.1 Motion monitoring functions......................................................................................... 304
5.2 Target window reached................................................................................................. 310
5.2.1 CiA 402.................................................................................................................. 313
5.3 Following error.............................................................................................................. 313
5.3.1 CiA 402.................................................................................................................. 316
5.4 Target area monitoring.................................................................................................. 316
5.4.1 CiA 402.................................................................................................................. 319
5.5 Hardware limit switch reached...................................................................................... 319
5.5.1 CiA 402.................................................................................................................. 321
5.6 Software limit position reached.....................................................................................322
5.6.1 CiA 402.................................................................................................................. 325
5.7 Standstill monitoring..................................................................................................... 325
5.7.1 CiA 402.................................................................................................................. 328
5.8 Stop reached................................................................................................................. 329
5.8.1 CiA 402.................................................................................................................. 331
5.9 Stroke limit reached...................................................................................................... 331
5.9.1 CiA 402.................................................................................................................. 333
5.10 Speed monitoring (spinning protection)........................................................................ 334
5.10.1 CiA 402.................................................................................................................. 334
5.11 Pushback monitoring.....................................................................................................335
5.11.1 CiA 402.................................................................................................................. 336
5.12 Remaining distance monitoring..................................................................................... 336
5.12.1 CiA 402.................................................................................................................. 337
5.13 Trajectory completed.....................................................................................................337
5.14 Reference switch activated............................................................................................ 338
5.14.1 Function................................................................................................................. 338
5.14.2 CiA 402.................................................................................................................. 339
5.15 Directional lock..............................................................................................................339
5.15.1 Function................................................................................................................. 339
5.15.2 CiA 402.................................................................................................................. 340
6 Control..........................................................................................................................341
6.1 Cascade controller.........................................................................................................341
8 Festo - CMMT-ST-SW - 2019-02