Festo Контроллер позиционирования CPX-CMAX - Manual (Page 388)

B. Basic controlling principles
B−46
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Notes:
ć Stroke monitoring and velocity monitoring are activated
each time a force task is started, provided they have not
been disabled by the user.
ć Stroke monitoring and speed monitoring is also active
after MC, i.e. delayed limit value violations are recogĆ
nised.
ć V
lim
must always be sufficiently larger than V
vor
in order
to prevent velocity monitoring from being triggered durĆ
ing positioning.
Recommendation: V
lim
= (2 ... 3) * V
vor
ć If limit monitoring responds, no matter whether stroke or
velocity, the controller always changes to position control.
ć If the axis reaches the target force once and when doing
so fulfils the MC conditions, MC is set.
MC then remains set until the next task is started, even if
the target force is no longer present.
The monitoring functions are explained in detail in section
B.8.10.