3. Drive functions
3−69
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Overview of parameters involved (see also sections 5.4.8 and 5.4.9)
Parameters involved Description PNU
1)
Position control Basic speed value
2)
540
Direct mode acceleration 541
Direct mode deceleration 542
Workpiece mass 544
Tolerance 545
Force control Basic value for force ramp
2)
550
Workpiece mass 551
Force tolerance 552
Damping time in ms 553
Speed limit for force control 554
Start (FHPP) CPOS.START = positive edge: Start
CDIR.ABS = absolute/relative setpoint value
CDIR.COM1/CDIR.COM2 = control mode (see section 2.2.1)
CDIR.CONT = continuous tracking
Jogging and referencing have priority.
Acknowledgement
(FHPP)
SPOS.MC = 0: Motion Complete
SPOS.ACK = positive edge: Acknowledge Start
SPOS.MOV = 1: Drive is moving
1)
Depending on parametrisation (PNU403), instead of basic values in PNU 540 to 554, the default
values are used from PNU 600 to 608. See section 5.3.
2)
The PLC transfers a percent value in the control bytes, which is multiplied by the basic value in
order to get the final setpoint value.
Tab.3/24: Parameters involved, direct mode
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