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

Страница: 63 / 183

6 Control via FHPP
Festo – GDCP-CMMO-ST-LK-C-HP-EN – 2017-05b – English 63
PNU Description Name
441 Setpoint value speed Setpoint value of target speed
442 Setpoint value force Setpoint value of target speed
Tab. 6.7 Parameters for positioning record
6.5.3 Record linking (PNU 402)
Record selection mode allows multiple positioning jobs to be linked. This means that, starting at
CPOS.START, several records are automatically executed one after the other. This allows a travel profile
to be defined, such as switching to another speed after a position is reached.
To do this, the user sets a condition in the record control byte and the entry of the subsequent record
number in PNU 416 to define that the subsequent record is automatically executed after the current
record.
Record control byte 2 (PNU 402)
Bit 0 ... 6 Numerical value 0 ... 128: step enabling condition as a list
è
Tab. 6.9
Bit 7 Reserved
Tab. 6.8 Settings for record chaining
Step enabling condition for automatic record chaining (bit 0 ... 6)
Value Com­
mand
Condition Description
0 Inactive End of the sequence No record sequencing.
1 MC
active
Motion Complete The preselection value from PNU 426 is interpreted as
a delay in milliseconds. Continuing takes place once
the target setpoint value is reached, i.e. once the in­
ternal MC condition is fulfilled.
20 PosC
active
Position comparator
active
Continuation takes place if the limit of the position
comparator has been reached.
21 VC
active
Velocity comparator
active
Continuation takes place if the limit of the velocity
comparator has been reached.
22 FC
active
Force comparator active Continuation takes place if the limit of the force com­
parator has been reached.
23 TC
active
Time comparator active Continuation takes place if the limit of the time com­
parator has been reached.
Tab. 6.9 Step enabling conditions