B. Basic controlling principles
B−51
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B.8.10 Monitoring function
With active force control, there are three permanent monitor
ing functions: Stroke monitoring, speed monitoring and moni
toring of the software end positions. In the event of an error,
the CMAX responds as follows:
the message is added to the diagnostic memory as a
fault,
position control is activated and the axis is stopped,
after the standstill, the CMAX changes to Fault" or
Ready" status,
depending on the fault, the bit SDI R.XLIM / SDIR.VLIM or
RSB.XLIM / RSB.VLIM is set. These bits are reset with the
reset command,
in the event of stop, disable and fault, all of the monitor
ing functions are deactivated.
Stroke monitoring
With the starting
edge, the CMAX remembers the current
actual position as the starting position. With each controller
cycle, stroke monitoring checks the path (stroke) covered
since the last start.
Stroke = | actual position (current) − actual position (starting
edge) |
If the actual position changes by a larger value than the
parametrised stroke limit value
(PNU 510) while a force com
mand is being executed, error E38 is indicated and the bit
SDIR.XLIM (direct mode) or RSB.XLIM (record select mode) is
set.
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