Festo EMCA-EC-67 CO Series, Description

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10 Control via FHPP
Festo – EMCA-EC-C-HP-EN – 2017-11e – English 195
PNU Page Operat­
ing
mode
1)
Name
Limit and monitoring
Jerk
543 Jerk acceleration P/V 296
547 Jerk deceleration P/V 297
Stroke monitoring
510 Stroke limit F 205, 207, 292
566 V 204, 207, 299
Force/torque limitation
581 Torque limitation P/V 203f., 300
Reporting data
Motion complete
404 Position setpoint value P 212, 281
441 Speed setpoint value V 212, 290
442 Force setpoint value F 212, 290
552 Force message window reached F 212, 298
561 Speed message window reached V 212, 298
1022 Target message window reached P 212, 309
1023 Target damping time reached P/V/F 212, 309
Following error
549 Following Error Window P 203, 214, 297
568 Speed deviation message window V 204, 214, 299
1045 Following error delay time P/V 214, 214, 314
Comparators
312 Status of comparator outputs P/V/F 275
585 Position comparator, min. P/V/F 301
586 Position comparator, max. P/V/F
587 Position comparator damping time P/V/F
588 Speed comparator, min. P/V/F 301
589 Speed comparator, max. P/V/F
590 Speed comparator damping time P/V/F
591 Force comparator, min. P/V/F 302
592 Force comparator, max. P/V/F
593 Force comparator damping time P/V/F
594 Time comparator, min. P/V/F 302
595 Time comparator, max. P/V/F
1) P = positioning mode; V = speed (velocity) mode; F = force/torque mode
2) The controller transfers a percentage value in the control bytes, which is multiplied by the base value to get the setpoint value.
Tab. 10.29 FHPP parameters for direct operation