Festo Контроллер позиционирования CPX-CMAX - Manual (Page 387)

B. Basic controlling principles
B−45
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
If the axis is in the process of performing positioning, it is
stopped first. Only then does force control begin.
1
Path
2
Force
3
Velocity
4
Feed phase (V
vor
)
5
Force ramp
6
MC
Path/speed/force
1
2
3
4 5
S
lim
F
V
lim
V
vor
Stroke monitoring
Target force
Velocity
monitoring
6
Time
Fig. B/3: Force control process
The following options are permitted:
ć Stroke and velocity monitoring can be activated or deactiĆ
vated independently of each other for each record (deĆ
fault: activated). However, the limit values are global,
i.e. apply to all records (changes possible in parametrisĆ
ing mode).
ć V
vor
can be deactivated by setting to 0.000 m/s, i.e. the
axis moves force−controlled only. In extreme cases, the
axis may move into the end position unbraked. If reversĆ
ing was deactivated, limit monitoring is still active, proĆ
vided it was not switched off as well.
ć The force setpoint value may have the value 0 N.