Festo CMMP-AS-C2-3A, Руководство по монтажу и установке, Страница: 38 / 110

4. Function overview
38 Festo P.BE-CMMP-AS-3A-HW-EN 0708NH
Speed message
Speed setpoint
Actual speed
DOUT:
Setpoint speed
reached
t1 t1
t2 t2
- t1 < 500 µs (t
cycP
)
- t2 < 500 µs (t
cycP
)
4.2.6 Torque-limited speed control
The CMMP-AS servo positioning controllers support torque limited, speed regulated opera-
tion with the following characteristics:
- Rapid updating of limit values, e.g. at 200 µs intervals
- Addition of two limit value sources (e.g. for pilot control values)
4.2.7 Synchronisation to external clock sources
The controllers work with sinewave current pulses. The cycle time is always permanently
bound to the PWM frequency. The device has a PLL to allow synchronisation of the device
regulation with external clock sources (e.g. DeviceNet, PROFIBUS MC). In these cases the
cycle time is variable within certain limits to allow synchronisation with the external clock
signal.
4.2.8 Load torque compensation for vertical axes
For vertical axis applications the holding torque at standstill can be acquired and stored. It
is then used as a switching signal in the current control circuit and improves the starting
behaviour of the axis after the holding brake has been released.
4.2.9 Positioning and position control
In positioning mode, in addition to operation with speed control, a higher-level position
controller is active that measures deviations between setpoint position and current posi-
tion and uses this to define setpoint values for the speed controller.