Festo Контроллер позиционирования CPX-CMAX - Manual (Page 65)

3. Drive functions
3−3
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3.1 General functional description
3.1.1 Position control
Single value mode (point−to−point)
Free profile A positioning task for a free profile is executed with the
given speed, acceleration and deceleration.
There might be a limitation imposed on valued determined
during identification.
Properties:
ć Speed, acceleration, deceleration and mass can be set
separately for every task.
ć Automatic acceleration limitation to feasible values
(if dynamic identification was carried out).
Automatic limitation cannot be deactivated.
ć On−the−fly switching to a new task is possible.
ć Stop behaviour: Braking ramp (if possible), otherwise
setpoint position = actual position.
Automatic profile With the automatic profile, a positioning task is executed
with the maximum speed, acceleration and deceleration deĆ
termined during identification.
Requirement: Dynamic identification has been carried out.
Otherwise, the task is executed with the default values of the
free profile and a warning message is output.
Properties:
ć The mass can be set separately for every task.
ć Stop behaviour: Braking ramp (if possible), otherwise
setpoint position = actual position.