B. Basic controlling principles
B−42
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
A force task can always be started from a position−con
trolled or force−controlled status. Depending on the initial
status, different types of behaviour are possible:
The axis is positioned force−controlled or position−con
trolled (MC=1): A new force task is started immedi
ately.
The axis is carrying out a positioning task (MC=0):
On−the−fly change of
controller": the current position
ing task is ended with the set stop ramp. As soon as
the speed = 0, the force task is started. MC always
remains = 0.
The axis is carrying out a force task (MC=0), the new
force task has the same direction of force:
On−the−fly sequencing": The new
force task is started
immediately. MC always remains = 0.
The axis is carrying out a force task (MC=0), the new
force task has the opposite direction of force:
On−the−fly reversing": The current force task is ended
with a configured ramp, as soon as the force value
reaches 0" the new force task
is started. MC always
remains = 0.
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