4. Function overview
Festo P.BE-CMMP-AS-3A-HW-EN 0708NH 41
to be issued. The target parameters can also be changed online via the communication
interface.
The number of positioning records that can be stored by the CMMP-AS servo positioning
controller is 250 via Fieldbus and 255 via I/O.
All position records have the following possible settings:
- Target position
- Positioning speed
- Final speed
- Acceleration
- Brake acceleration
- Torque pilot control
- Remaining path message
The following additional flags:
- Relative/Relative to last target/Absolute
- Wait for end/Cancel/Ignore start
- Synchronised
- Round axis: Permanently specified direction of movement
- Option: Automatic braking when subsequent positioning is missing
- Option: Travel speed continuously adjustable via analogue input during
travel
- Various options for creating motion programs
The positioning records can be accessed via all bus systems or the parameterising soft-
ware. The positioning sequence can be controlled via digital inputs.
4.3.2 Relative positioning
With relative positioning, the target position is obtained by adding a value to the current
position. Since a fixed zero point is not required, homing is not absolutely necessary.
However, this is often useful in order to bring the drive to a defined position.
Concatenation of relative positioning can be used to continuously position in the same
direction (e.g.) for a trimming unit or conveyor (incremental dimensions).
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