Festo CMMP-AS-...-M0 Series Description

6Functions
20 Festo – GDCP-CMMP-M0-FW-E N – 1304NH
6 Functions
6.1 P osition c ontroller
6.1.1 Basic principles of the position controller
In the positioning mode, a cert ain position is specified to which the motor must move. The current posi-
tion is obtained from the information gained from the internal encoder analysis. The position deviation
is processed in the position controller and passed on to the speed regulator.
The integrated position controller allows jerk-limited or time-optimised positioning, either relative to
the current position or absolute with respect to a reference point. It provides setpoint values to the
position controller and, to improve the dyna mic response, also to the speed re gulator.
With absolute positioning, travel occurs directly to a defined target position. With relative positioning,
travel oc c urs around a parameterised path. The positioning range of 2
32
full rotations ensures that
relative positioning can occur as often as desired in a given direction. After the positioning range is
reached, the actual position runs ove r it without triggering an error. This overrunning must be taken into
account by the controller.
The positioning controller is parameterised via a target table. This c ontains entries for parameterising a
target via a communication interface and also target positions that can be access via the digital inputs.
The positioning method, travel profile, acceleration and braking times, and maximum speed can be
specified for every entry. All targets can be pre-parameterised. Positioning then only requires an entry
to be selected and a start command to be issued.
With the motor c ontroller CMMP-AS-...-M0 255 position records can be stored.
All position records have the following possible settings:
– Mode (relative or absolute positioning)
– Target position
– Speed
– Acceleration
– Braking deceleration
– Smoothing
– Start Condition
– Direction of rotation with modulo positioning
– Step criterion
– Record at digital input NEXT1
– Record at digital input NEXT2
– Ignore stop input
– End speed
– Synchronisation
– R emaining path message
– Torque feed forward
– Torque limitation
–StartDelay
The positioning records can be addressed via digital inputs, fieldbus or the parameterisation softwar e
FCT.

Festo CMMP-AS-...-M0 Series Specifications

General

Brand	Festo
Model	CMMP-AS-...-M0 Series
Category	Controller
Language	English