Festo Контроллер позиционирования CPX-CMAX - Manual (Page 84)

3. Drive functions
3−22
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Following error or tolerance monitoring (SPOS.DEV)
The bit SPOS.DEV (deviation" = control fault) indicates that
the control fault (i.e. SET/ACTUAL deviation) has exceeded a
certain value. The permissible deviation depends on the
movement status of the drive.
ć During positioning (MC = 0): Following error
ć After reaching Motion Complete: Tolerance window
There is no difference between the behaviour of position and
force control. Only the parameters and signals used are difĆ
ferent. The following figure shows the principle. The designaĆ
tions refer to position control.
1
Target setpoint value
2
Reference setpoint
value
3
Actual value
4
Position tolerance
5
Following error tolerĆ
ance
6
Control faults
7
Motion Complete
(SPOS.MC, B2)
8
Deviation
(SPOS.DEV, B5)
9
Following error
aJ
Outside of positionĆ
ing tolerance
1
2
3
4
5
6
7
9
8
4
5
4
5
4
5
aJ
Fig. 3/6: Following error or tolerance monitoring