B. Basic controlling principles
B−53
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Monitoring of the software end positions
If a software end position is reached during force control, the
axis is stopped and a fault is reported. Setting both software
end positions = 0 deactivates this monitoring.
MC (Motion Complete)
In compliance with the MC conditions, Motion Complete re
ports that the setpoint force has been
reached.
Under unfavourable conditions during force control, the
break−away force may result in the MC condition being ful
filled even at the beginning of the task. Here the criteria for
the MC condition can be influenced via the parameters moni
toring time, tolerance etc.
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