Festo CMMO-ST-C5-1-DION, Original Instructions Manual

Page: 49 / 174

2 Product description
Festo – GDCP-CMMO-ST-EA-SY-EN – 2017-05c – English 49
2.5.8 Velocity mode
The velocity mode enables a distance to be travelled at a constant rotational speed, with the option of
stroke limitation. Stroke is defined as the absolute difference between the actual position and the
position at the start of the order. Stroke limitation determines the maximum permitted distance for the
order, relative to the starting position.
Variants Description
Without stroke limitation Travel over an unlimited distance, e.g. for rotary actuators
With stroke limitation Covers a limited distance relative to the start position
Tab. 2.43 Order variants in velocity mode
Course of path
Before carrying out the order, the controller computes a new path course from the parameterisation of
the command to activate the motor. The calculated path track remains unchanged until the end of the
order. While carrying out an order, the deviation between setpoint speed (based on path characterist­
ics) and the actual speed should be calculated and monitored. (
è
Chapter 2.7.1, following error).
Parameters Description
Velocity Target specification for the speed
Acceleration Maximum value for acceleration
Retardation (deceleration)
1)
Maximum value for retardation (deceleration)
Jerk acceleration
(jerk in acceleration)
Acceleration change at start and end of the acceleration phase.
Lower values result in gentler movement. The value “0” means
that no reverse limiting is enabled.
Jerk Deceleration
(jerk in deceleration)
1)
Change in acceleration at the start and end of the deceleration
phase. Lower values cause gentler braking action. The value “0”
means that no reverse limiting is enabled.
1) Separately adjustable in FCT if the asymmetric ramp generator has been enabled. Otherwise identical to acceleration.
Tab. 2.44 Parameter for influencing the track characteristics