3. Drive functions
3−9
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Notes regarding stroke and speed monitoring:
When the path is exceeded which is set in the stroke
monitoring (PNU 510, relative to the starting position),
RSB.XLIM or SDIR.XLIM is set (stroke limit reached).
If the speed V
lim
(PNU 511) is exceeded, RSB.VLIM or
SDIR.VLIM is set (speed limit reached).
The drive is decelerated each time with the stop ramp,
kept at the current position with position control and
SPOS.MC is set as soon as the drive has stopped. A fault
is generated and SCON.FAULT is set.
Stroke and speed monitoring
can be activated/deacti
vated independently of each other for each task (default:
activated). The limits are global, however, i.e. apply for all
records. (changes possible via fieldbus).
Stroke and speed monitoring are activated every time a
force task is started if they weren’t disabled.
Stroke and speed monitoring are also active after MC,
i.e. delayed limit violations are detected.
V
lim
must always be greater than V
feed
.
V
feed
can be deactivated by setting it to 0. This sup
presses the switch to position control mode for a force
task.
I.e., the axis only moves with force control, and only limit
monitoring is active. If limit monitoring is also deacti
vated, the axis could crash into the end position without
braking.
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