1152 bug cmmt as while in torque control loses axis position

[kuh0005]

Summary

• Fixes [BUG] Cmmt-As while in torque control loses axis position #1152: AxoCmmtAs no longer "loses" axis position while in torque control — a positioning move now completes only when targetPosReached (ZSW1.X10) AND the actual position is within the new InPositionWindow tolerance.
• Removes an unstable torque-control guard that spuriously raised programming error 1542 when targetPosReached asserted during torque-control states.
• Adds InPositionWindow (LREAL, default 0.05) to AxoDrive_Config (components.drives) to back the in-position check.
• Annotates PROFIdriveTelegram_111_ZSW1 signals with hardware bit positions (X0–X15); disables an unfinished dynamic-torque-boost write (PNU 13073).

Changes from CHANGELOG

AxoCmmtAs loses axis position while in torque control

Note: PLC bug fix in src/components.festo.drives (AxoCmmtAs, PROFIdriveTelegram_111) and src/components.drives (AxoDrive_Config). No public-API removal. Branch: 1152-bug-cmmt-as-while-in-torque-control-loses-axis-position. Issue #1152, PR #1166.

• fix: AxoCmmtAs positioning no longer advances past the target-reached step on the Telegram111_In.ZSW1.targetPosReached (X10) bit alone. It now additionally requires ABS(Position - ActualPosition) <= _AxisReference^.Config.InPositionWindow before transitioning, so a drive that asserts targetPosReached while still off target (e.g. after a torque-control phase) no longer loses its position.
• fix: Removed an unstable torque-control guard that raised programming error 1542 (eAxoMessageCategory#ProgrammingError, MC_TorqueControlErrorID := 1542) whenever targetPosReached became true during torque-control states 126/127. Disabled pending further investigation.
• feat: AxoDrive_Config gains an InPositionWindow parameter (LREAL, default 0.05).
• chore: Annotated PROFIdriveTelegram_111_ZSW1 status signals with hardware bit positions (X0–X15) and added matching comments to the ZSW1 mapping in AxoCmmtAs.
• chore: Disabled an unfinished dynamic-torque-boost parameter write (PNU 13073).
• docs: Updated components.festo.drives docs (CHANGELOG 0.61.1, TROUBLES, AxoCmmtAs.md).

Commits

Other:

• fd96eeb disable dynamic boost
• 9ccb278 wip

(merge commit 478a31f omitted)

Diff stat

 src/components.drives/ctrl/src/AxoDrives/AxoDrive_Config.st                |  2 ++
 src/components.festo.drives/ctrl/src/AxoCmmtAs/AxoCmmtAs.st                | 74 +++++++++++++++++++-----
 src/components.festo.drives/ctrl/src/PROFIdrive/PROFIdriveTelegram_111.st  | 32 +++++-----
 3 files changed, 80 insertions(+), 39 deletions(-)

Test plan

• PLC code compiles via apax build; affected positioning + torque-control sequences exercised in PLCSIM Advanced / on a CMMT-AS axis
• Tune InPositionWindow per axis and confirm a move neither stalls (too small) nor completes off-target (too large)

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Generated by /pr-description-update. Last regenerated: 2026-06-01.
closes #1152

[PTKu]

@kuh0005 can you please add the information about drive settings that are required for torque mode to operate properly? Thanks.
src/components.festo.drives/docs/AxoCmmtAs.md