Festo Контроллер позиционирования CPX-CMAX - Manual (Page 69)

3. Drive functions
3−7
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3. At standstill: Force ramp until target force has been reached
(phase 6 ).
The target force is approached with the set force ramp.
4. Once the axis has reached the target force, fulfilling the MC
conditions, MC is set ( 7 ).
Notes:
ć If there is a stop" or error F1 (controller active), position
control is switched to (setpoint position = actual position,
etc.).
If the limit monitoring responds, regardless of whether
stroke or speed, the controller always changes to position
control. See also Fig. 3/2, monitoring functions.
ć The speed is limited to the value in the Velocity" parameter.
ć Prepositioning can be deactivated by V
feed
= 0. See also
Fig. 3/2, monitoring functions.
ć If pre−positioning be used together with a large target force,
it is better to use record chaining. In the first record, a force
is specified which lies a little above the break−away force, so
that drive safely switches to pre−positioning. In the second
record, the final target value is established, switching will
continue after MC. The force upon workpiece impact is then
limited and the force ramp required is used in the range
between the first and the final target force.
ć The force setpoint may have the value 0 (no force").
ć Relative force tasks following positioning tasks refer to
force 0.
ć Depending on the parametrisation, the actual position or
actual force is acknowledged as the primary actual value
(PNU 523).
ć Continuous setpoint tracking in force mode is not supported
and leads to a fault.
ć Force control outside the software end positions is not
permitted and will lead to a fault.
ć With force control, it might be necessary to optimize the
control factors more often than with position control.