3. Drive functions
3−59
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Errors in the record parameters, e.g. an impermissible
switching condition (see section 3.3.3).
Subsequent record with active record switching not initia
lised.
If the next record is configured with an automatic profile,
only the condition MC (or none) are permissible. Other
wise, a warning (W37) is signaled and the free profile is
used.
The CMAX
does not react to the rising edge at
CPOS.START:
It must be checked whether SPOS.ACK was really reset.
After the PLC sets CPOS.START = 0 (Fig.3/10 6 ), it must
wait for SPOS.ACK = 0 (Fig.3/10 7 ). Otherwise, it may
be that the time for START = 0 is too short
to be recog
nised by the CMAX.
Notes regarding force control
If Force control" is set as the control mode with a rising edge
at CPOS.START in RCB1, the CMAX interprets the setpoint
specification as a force setpoint. It activates the force control
and adjusts the value with the parametrised ramp. The speed
is
limited to the value in the Velocity" parameter.
When the setpoint value has been reached, taking into ac
count the tolerance, the MC" signal is set. The force is con
trolled again until a new starting edge resets the controller
mode to positioning.
If the stroke or speed limits are exceeded, an error
is sig
naled. If there is a stop or error type F1 (controlled), there is a
switch to position control (set = actual, etc.).
Force tasks following positioning tasks with a relative setpoint
value refer to force 0.
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