Festo Контроллер позиционирования CPX-CMAX - Manual (Page 344)

B. Basic controlling principles
B−2
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Contents
B.1 CMAX system of measurement units B−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2 Dimension reference system for pneumatic drives B−9 . . . . . . . . . . . . . . . . . . . .
B.2.1 Dimension reference system with absolute measuring system B−9 . . .
B.2.2 Dimension reference system with incremental measuring system B−11
B.2.3 Calculating specifications for the measuring reference system B−12 . . .
B.2.4 Software end positions / Hardware end positions B−13 . . . . . . . . . . . . .
B.3 Drives and measuring systems B−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.4 Taking into account the load B−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.5 Basic information on position control B−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.6 Optimisation of the mechanical structure and the pneumatic
installation
B−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.6.1 Proceed as follows if the compressed air supply is unstable: B−24 . . . .
B.7 Optimisation of the controller B−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.7.1 Description of the controller factors for position control B−25 . . . . . . . .
B.7.2 Optimize positioning behaviour B−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.7.3 Description of the controller factors for force control B−32 . . . . . . . . . . .
B.8 Basic principles of force control/standstill control B−34 . . . . . . . . . . . . . . . . . . . .
B.8.1 Influence of the mass on force control B−36 . . . . . . . . . . . . . . . . . . . . . . .
B.8.2 Influence of the mass on standstill control B−38 . . . . . . . . . . . . . . . . . . .
B.8.3 Behaviour of the force control B−39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.8.4 Behaviour of standstill control B−43 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.8.5 Individual value mode B−44 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.8.6 Position control during a force task B−47 . . . . . . . . . . . . . . . . . . . . . . . . .
B.8.7 Force ramp B−48 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.8.8 Controller amplifications B−49 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.8.9 Influence of the static identification on force control B−50 . . . . . . . . . . .
B.8.10 Monitoring function B−51 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.9 Notes on application, special operating statuses B−54 . . . . . . . . . . . . . . . . . . . . .
B.9.1 Changing an external force B−54 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .