Overview Of Drive Functions; Jogging; Teach; Standstill Monitoring - Festo CMMO-ST Manual

2 Overview
2.4

Overview of drive functions

2.4.1

Jogging

During the jogging mode the drive moves as long as a corresponding signal is present. This function is
commonly used to approach teaching positions or to move the drive out of the way. If the drive is not
referenced, the software end positions are disabled and the drive can be positioned behind the soft-
ware end positions by jogging.
This function is only available in the binary profile.
2.4.2

Teach

The teach function enables the current position to be adopted as a parameter:
1st step: The drive is moved to the desired position (e.g through jogging).
2nd step: The user starts the teach command; the current position is transferred to a position record
as the target position.
For additional information
2.4.3

Standstill monitoring

Standstill monitoring is only available during closed-loop operation in the binary profile. If the stand-
still position window is exited during position control, it is indicated by the standstill monitoring func-
tion: if this position window is exited for a period longer than that defined in the "standstill monitoring
time", the controller signals this to the higher-order controller. One of the freely assignable outputs
(no. 6 or no. 7) can be used for this purpose.
The position controller also tries to move the drive back into the position window.
2.4.4

Brake

If the drive is equipped with a brake, it is controlled as follows:
Switch-on delay
When setting the release (ENABLE), the time set for the switch-on delay starts to run (e.g. 150 ms)
and the position controller of the CMMO-ST assumes control of the connected drive. The brake opens
simultaneously. The CMMO-ST only accepts positioning jobs after expiration of the switch-on delay.
Switch-off delay
When the enable signal is removed, the time set for the switch-off delay starts to run. The brake closes
during this time. The position controller holds the drive in position. The position controller is only
switched off after expiration of the switch-off delay.
If the enable signal is removed while the drive is executing a record, the drive is brought to a standstill
with the quick stop ramp (Quick stop). As soon as the drive has come to a standstill, the brake output
is reset: the brake/clamping unit closes. Simultaneously, the switch-off delay time begins to run. The
CMMO-ST still controls the position. The controller end stage is switched off after the switch-off delay.
A closed brake can be opened via digital input no. 9.
16
sections 2.4.11 and 5.5.3.
Festo – GDCP-CMMO-ST-EA-SY-EN – 1301a – English