3. Drive functions
3−64
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Defined switching conditions in the CMAX
Value DescriptionCondition
4 Standstill
The preselected value is inter
preted as the time T1 1.
Switch: The drive moves slowly up
to the unknown workpiece posi
tion 2 (to the end point) and
stops there 3 .
When a standstill is reached, the
time T1 begins. As soon as this
has elapsed, the next record is
executed 4.
If the drive didn’t move up to
100 ms after the start of the
record (e.g. because it’s already
at the end point), standstill is also
registered and the time T1 is
started.
2
1
MC
Speed
Workpiece position
Position
Drive is moving
43
Notes:
To avoid a timeout, the configured timeout time is prolonged by the time T1
in this record.
If a standstill is detected, after the time elapses, switching continues, even if
the axis is moving again (no monitoring time).
The axis can not only be stopped with an obstacle (wanted or unwanted), but
also with a lack of pressure.
When switching from a force task: Since the force ramp also determines the
switching point of the force at a standstill, only low reproducibility with re
gard to the position and force value can be expected.
5 Time The preselected value is inter
preted as the time T1 1.
The time T1 is started at the
beginning of positioning.
The next record is switched to
once the time has elapsed 2.
MC can already be reached here.
2
1
MC
Speed
Position
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