B. Basic controlling principles
B−41
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
The controller contains appropriate default settings.
During parameter download, the CMAX only checks the
absolute limit values of the parameters. The parameters
maximum setpoint force and tolerance are not limited
dependent on other project data (cylinder diameter etc.).
In the CMAX the controller limits the setpoint values to
reachable maximum values. In this, the
piston surface,
the moving mass and the mounting position are taken
into account. The limited values can be read from the con
troller and displayed in the same way as the limited accel
eration values for position control.
During force control, either the current position or the
current force value in the PLC
input data is transmitted.
Switching over is done via PNU 523:08.
If you want Stop to be carried out (CCON.STOP = 0) while
the drive is pushing into a stop under force control, the
system switches from force control to position control and
adopts the current actual position as setpoint position.
Since the drive
is at a standstill, the tolerance is reached
immediately, and transition to standstill control occurs.
The force to which the drive controls in this case is speci
fied by the actual force which can range between the last
setpoint force and 0 N. If the drive is to be positioned
force−neutrally after stop,
a force record with 0 N should
be executed before setting CCON.STOP = 0.
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