Festo Контроллер позиционирования CPX-CMAX - Manual (Page 110)

3. Drive functions
3−48
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
ć If the CMAX determines that the axis came to a standstill
before reaching the target position (software end position
or hardware end position), e.g. due to a stop or obstacle,
the drive is stopped.
ć CPOS.JOGN has priority. If JOGP and JOGN are set at the
same time, the negative direction is moved in.
Timeout during jogging
The timeout during jogging is not caught, independent of the
operating mode. If the axis is clamped and isn’t moving at all,
error E31 (no movement after start) is generated.
If the CMAX determines that the axis came to a standstill beĆ
fore reaching the target position (software end position or
hardware end position), e.g. due to a stop or obstacle, error
E30 (target position cannot be reached) is signaled.
Errors E31 and E30 can occur both during the creeping run as
well as during the maximum speed phase. This is because
CMAX executed two positioning tasks internally.
Since the drive can jog up to the hardware end position in
commissioning mode, the timeout here is possible in prinĆ
ciple. Jogging up to the hardware end position is for teaching
the software end positions or the project zero point. Reaching
the stop might very well be desired here.
To avoid a timeout here, the status bit SPOS.MOV should be
evaluated. If this is a logic 0 for at least 50 ms, jogging should
be terminated.