Festo Контроллер позиционирования CPX-CMAX - Manual (Page 76)

3. Drive functions
3−14
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Switch−on behaviour:
Since the clamping unit/brake is low−active by default, it is
closed at switch−on (as long as CCON.BRAKE = 1 is set).
If the clamping unit/brake is configured to be high−active, this
remains closed until the first negative edge at CCON.BRAKE
or the first drive enable. This prevents the brake from being
released unintentionally, e.g. when all PLC data are set to 0
initially at switch−on.
Setting and releasing the brake
When the controller is disabled, setting and releasing the
brake is transferred directly to the clamping unit/brake withĆ
out any further CMAX reaction.
If the controller is activated while the clamping unit/brake is
closed, the CMAX goes over to force control with a force setĆ
point of 0 after enabling.
If the operation enable (CCON.STOP = 1) is activated and
the brake is opened at the same time or later, before the
Operation enabled" response (SCON.OPEN), 50 msec are
waited, which the brake/clamping unit requires to open
mechanically. A start is only possible after this. See Fig. 3/3.
If the controller has the Operation enabled" status
(SCON.OPEN = 1), the closing of the brake has the same efĆ
fect as resetting CCON.STOP. The Operation enabled" status
is exited with a stop. When standstill is reached, force control
is activated with a force setpoint of 0.
Note
The controller takes the workpiece mass of the last task
into account. If the mass specification is incorrect (e.g.
workpiece mass has changed), when the clamping unit/
brake is released, there could be compensational moveĆ
ment.