3. Drive functions
3−60
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3.3.2 Record structure
A positioning task in record select mode is described by a
record made up of setpoint values. Every setpoint value is
addressed by its own PNU. A record consists of the setpoint
values with the same subindex.
PNU
1)
Name Position control Force control
401 Record control byte 1
RCB1
Setting for positioning task:
absolute/relative, position/force control, ...
402 Record control byte 2
RCB2
Record control:
Settings for conditional record switching and record chaining
404 Setpoint value Position setpoint value Force setpoint value
405 Preselected value Preselected value according to RCB2
406 Speed Speed
407 Acceleration Start up acceleration
2)
2)
408 Deceleration Slow down acceleration
2)
2)
410 Mass Workpiece mass
411 Tolerance Position tolerance Force tolerance
412 Force ramp not used Force ramp
1)
The default values are used depending on PNU 403 (RPC). See Tab.3/19.
2)
The acceleration and deceleration parameters are not used for force control.
Tab.3/20: Record parameters
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