Festo Контроллер позиционирования CPX-CMAX - Manual (Page 394)

B. Basic controlling principles
B−52
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Notes:
ć The starting position is always the actual position on the
starting edge, so the stroke limit value also comprises the
stroke during the speed control of a force task.
ć If the task is started by record sequencing, the starting
position is the actual position at the time of reversing.
ć If the stroke limit value is outside of the software end
position, reaching the software end position has priority.
The stroke limit value does not deactivate the software
end position.
ć If CDIR.XLIM or RCB1.XLIM is set, stroke monitoring is
deactivated.
Speed monitoring
Velocity monitoring is activated each time a force task is
started, provided it has not been disabled by the user. It is
also active after MC, i.e. delayed limit value violations are
recognised.
The maximum permissible velocity V
lim
(PNU 514) must
always be greater than the setpoint velocity V
vor
(PNU 406 or 554).v
If, during activated force control, the velocity limit V
lim
is exĆ
ceeded, the axis is stopped and error message E39 is issued.
SDIR.VLIM or RSB1.VLIM is set.
Monitoring can be deactivated by setting CDIR.VLIM or
RCB1.VLIM.