Festo — EMCS-ST — 2021-03b
"Move
Out
" positioning task the "Pos
Start Press
" Start Press Position is approached position-controlled
and then force-controlled until the force/torque setpoint value is reached or continued to the Lim
Out
end position. A positioning task can be stopped and continued at any position. When the end position,
intermediate or stop position is reached, the drive stops position-controlled at this position. When the
force/torque setpoint value is reached, the drive stops force-controlled.
It is controlled via the following interfaces:
–
Digital inputs/outputs (DIO)
– DI1, "Mov
In
" [Logic, Pin 5]
– DI2, "Mov
Out
" [Logic, Pin 6]
–
IO-Link process data (LK),
è
15.2.3 Process data
– 0x0029.1, "Move
In
"
– 0x0029.2, "Move
Out
"
–
0x0029.5, "Move
Intermediate
" (from firmware version v19.0.4.107_release)
– IO-Link system parameters (LK),
è
15.2.4 System parameters
– 0x0002, execute "Move In" or execute "Move Out"
The following commands are available:
–
Start
In
: start or continue position-controlled travel "Mov
In
" to "Lim
In
(Ref)" end position
– Start
Out
: start or continue position-controlled and force-controlled "Mov
Out
" motion to the "Lim
Out
"
end position
–
Start
Imp
: start or continue "Mov
Imp
" position-controlled travel to the "Pos
Imp
" intermediate position
(from firmware version v19.0.4.107_release)
– Stop task: stop travel
The diagrams show the movements in point-to-point operation
– Mov
Out
: position-controlled movement to the end position "Lim
Out
"
–
Mov
In
: position-controlled movement to the end position "Lim
In
"
–
Mov
Imp
: position-controlled movement to the intermediate position "Pos
Imp
"
– Point-to-point operation with press function, from Start Press Position "Pos
Start Press
"
– Mov
Out
: force-controlled movement until the parameterised force or torque setpoint value
"Force" is reached or to the end position "Lim
Out
"
–
Mov
Imp
: force-controlled motion to the "Pos
Imp
" intermediate position
Force is controlled and evaluated by closed-loop control of the motor current. A torque level or a linear
force can be determined from the level of current measured depending on the mechanism of the drive.
The target is set as a percentage of the rated motor current and may deviate from the actual force
on the drive unit. If force levels are set low, the influence of friction in the system on the running
behaviour and the actual force on the drive unit must also be taken into account.
"Point-to-point operation with press function" sequence
–
: position-controlled travel
–
: force-controlled travel
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