Festo CMMO-ST-C5-1-DION, Оригинальное руководство пользователя

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2 Product description
54 Festo – GDCP-CMMO-ST-EA-SY-EN – 2017-05c – English
Other record parameters
Parameters Description
Controller parameters (basic data)
Objective (Target) Parameterisation depends on the operating mode
– Positioning mode
è
Section 2.5.7
– Velocity mode
è
Section 2.5.8
– Force mode
è
Section 2.5.9
Velocity
Acceleration/delay
Additional load (Extra Load) Payload transported in addition to the basic load
Torque feed forward
(Torque Feed Forward)
– for greater dynamics with large masses
– increases the motor current during acceleration and
deceleration by the pre-defined percentage value. The nominal
current is not exceeded.
– Value must be determined experimentally.
Sequence control
Start Condition
(Start Condition)
A start condition can be defined for every record (e.g. with FCT).
The start condition status how the record should respond to a
start signal if the current order is not yet completed (
è
Tab. 2.51,
record switching)
Condition
Start Delay
MC visible
Final velocity
(Final Velocity)
Following Set
Several records in the record table can be linked with one another.
These are executed directly after one another using a start signal if
the applicable conditions for onward switching are satisfied
(
è
Tab. 2.52, record linking)
Comparators
Force comparator
(Force Comparator)
Specification of a tolerance window with trigger levels and
applicable damping times (
è
Section 2.7.2)
Position comparator
(Position Comparator)
Velocity Comparator
Time Comparator
Time Comparator
Limitations
Force compensation
(Force Limit/ Torque Limit)
Maximum permitted force or permitte torque when executing the
order in positioning or velocity mode
Stroke limit
(Stroke limit)
Maximum permitted distance for execution of the order
Max. Following Error
(Max. Following Error)
Control deviation in positioning or velocity mode at which the
message “following error” is issued
Tab. 2.50 Record parameter