3. Drive functions
3−18
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Position control
The Motion Complete (MC) signal indicates whether the last
started task has been ended. It is made up of several logical
conditions. See Tab.3/5 and Fig.3/4.
Condition
Description
Permanent entry in tolerance
window for position
The actual position reaches the tolerance window and does not
exit it again during the set monitoring time. The monitoring time
(PNU 1154) can be configured in expert mode with the FCT
(controller data −> position controller). The tolerance window
corresponds with the target position +/− the currently set tolerance.
Permanent entry in tolerance
window for speed
The actual speed reaches the speed tolerance window and does not
exit it again during the set monitoring time. The monitoring time is
the same as for the position (PNU 1154). The tolerance window is
equivalent to +/− 4 mm/s.
Starting timeout
(fault E31)
After starting the setpoint curve, the axis must have moved by at
least 11 mm within the timeout time (PNU 1153). Otherwise, the
CMAX signals a starting timeout.
Positioning timeout
(fault E30)
At the end of the setpoint curve, the position and speed conditions
must be met. If one of the two conditions is not met by the end of
the timeout time (PNU 1153), the CMAX signals a positioning time
out.
Tab.3/5: Conditions for Motion Complete
For the quality class Fast stop", MC is set as soon as the
actual position has reached the tolerance window position.
The monitoring time is not waited and the speed condition is
not taken into consideration. That means that the axis might
still be moving when MC occurs. It is possible that the toler
ance could be exited again.
Due to the fast stop, the positioning time is shortened accord
ingly (= time to MC). This is suitable for positions which do
not require high precision.
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