B. Basic controlling principles
B−52
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Notes:
The starting position is always the actual position on the
starting edge, so the stroke limit value also comprises the
stroke during the speed control of a force task.
If the task is started by record sequencing, the starting
position is the actual position at the time of reversing.
If the stroke limit
value is outside of the software end
position, reaching the software end position has priority.
The stroke limit value does not deactivate the software
end position.
If CDIR.XLIM or RCB1.XLI M is set, stroke monitoring is
deactivated.
Speed monitoring
Velocity monitoring is activated each time a force task is
started, provided it has not been
disabled by the user. It is
also active after MC, i.e. delayed limit value violations are
recognised.
The maximum permissible velocity V
lim
(PNU 514) must
always be greater than the setpoint velocity V
vor
(PNU 406 or 554).v
If, during activated force control, the velocity limit V
lim
is ex
ceeded, the axis is stopped and error message E39 is issued.
SDIR.VLIM or RSB1.VLIM is set.
Monitoring can be deactivated by setting CDIR.VLIM or
RCB1.VLIM.
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