Festo SFC-LAC CO Series, Руководство пользователя

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5. Commissioning
5−71
Festo P.BE−SFC−LAC−CO−EN en 0708NH
Sequence for specifying a force
Note
Control of the force takes place indirectly by means of the
current regulation. The actual force at the axis should be
calculated/checked and then set with external measuring
devices during commissioning.
Force control is prepared when the control mode is switched
over. The drive stands with the position controlled. The signal
MC" (Motion Complete) is used in this control mode to mean
Force value reached".
After the setpoint value has been specified, the force is built
up by the start signal (start bit) in the direction of the sign of
the setpoint value. The speed is limited to the value in the
parameter Speed limit". Once this speed has been reached,
the bit Speed limit reached" is set in the status byte SDIR.
When the nominal value has been reached, taking into
account the target window and the time window, the MC"
signal is set. The force is controlled again.
If the path set in the path/stroke monitoring (relative to the
starting position) is exceeded, the bit Stroke limit reached"
will be set in the status byte SDIR. The drive is braked with
the emergency stop ramp, held with the position controlled at
the current position, and the MC signal" is set.
The smallest permitted nominal force value is 30 % of the
rated force. If smaller values are specified, these will be
raised to 30 %.
Causes of faults
No referencing carried out.
Target position outside the software end positions
(axis remains standing at the software end position).