Festo Электромотор MTR-DCI - Manual (Page 179)

5. Commissioning
5-81
Festo P.BE-MTR-DCI-CO-EN en 1209a
5.6.6 Standstill monitoring
With the standstill monitoring it is clear that the target posi-
tion window is exited at a standstill.
When the target position has been reached and MC signalled
in the status word, the drive switches to the “standstill” state,
bit SPOS.B6 (standstill monitor) is reset. If, in this status, the
drive is removed from the standstill position window for a
minimum defined time due to external forces or other influ-
ences, the bit SPOS.B6 will be set.
As soon as the drive is in the standstill position window again
for the standstill monitoring time, the bit SPOS.B6 will be
reset.
1
Target position
2
Actual position
3
Standstill monitoring
(SPOS.B6)
4
Motion Complete
(SPOS.B2)
5
Standstill position
window
6
Target position win-
dow
7
Adjustment time
(
Position window time )
8
Standstill monitoring
time
1
0
1
0
1
2
3
4
5 6
7
8 8
Fig. 5/9: Standstill monitoring
The standstill monitoring cannot be switched on or off expli-
citly. It becomes inactive when the standstill position window
is set to the value “0”.