Festo Контроллер позиционирования CPX-CMAX User Manual
Page 131
3. Drive functions
3−69
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Overview of parameters involved (see also sections 5.4.8 and 5.4.9)
Parameters involved
Description
PNU
1)
Position control
Basic speed value
2)
540
Direct mode acceleration
541
Direct mode deceleration
542
Workpiece mass
544
Tolerance
545
Force control
Basic value for force ramp
2)
550
Workpiece mass
551
Force tolerance
552
Damping time in ms
553
Speed limit for force control
554
Start (FHPP)
CPOS.START = positive edge: Start
CDIR.ABS = absolute/relative setpoint value
CDIR.COM1/CDIR.COM2 = control mode (see section 2.2.1)
CDIR.CONT = continuous tracking
Jogging and referencing have priority.
Acknowledgement
(FHPP)
SPOS.MC = 0: Motion Complete
SPOS.ACK = positive edge: Acknowledge Start
SPOS.MOV = 1: Drive is moving
1)
Depending on parametrisation (PNU403), instead of basic values in PNU 540 to 554, the default
values are used from PNU 600 to 608. See section 5.3.
2)
The PLC transfers a percent value in the control bytes, which is multiplied by the basic value in
order to get the final setpoint value.
Tab. 3/24: Parameters involved, direct mode