Festo Контроллер позиционирования CPX-CMAX - Manual (Page 381)

B. Basic controlling principles
B−39
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
B.8.3 Behaviour of the force control
ć A force task is treated like any positioning task.
ć As soon as the force task begins, the MC signal goes to
0 level, when the force setpoint value has been reached,
the MC signal =1. As long as there is no new positioning
task, the axis remains in force control.
ć With the force ramp, the user specifies the increase in
force per time unit. The unit is [N/s]. The permissible
value range is 10 N/s ... 10.000 N/s. The force ramp is
appropriately restricted by the FCT.
ć The force tolerance has the same function as the positionĆ
ing tolerance for positioning.
ć The sign of the force setpoint value determines the direcĆ
tion of force control:
+ : means force build−up towards increasing position vaĆ
lues,
ć : means force build−up towards decreasing position
values (measuring system zero point).
ć The Stop signal (CCON.STOP = 0) ends a force task as
quickly as possible. The system immediately switches
back to position control, while in standstill position the
setpoint position is set as = actual position.
ć The FCT PlugIn supports the correct parametrisation of
force control. It calculates the theoretical maximum force
values, dependent on the cylinder (type and diameter).