Festo Электромотор MTR-DCI - Manual (Page 164)

5. Commissioning
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Festo P.BE-MTR-DCI-PB-EN en 1209a
Sequence for specification of a torque/force:
Note
The motor torque is controlled indirectly via regulation of
the current. The actual force on the axis should be deter-
mined/checked during commissioning using external
measuring devices and adjusted.
Force mode is prepared by switching the control mode. The
drive remains stationary in a controlled position. The signal
“MC” (Motion Complete) is used in this control mode to mean
“executed”.
After the nominal value has been specified, the start signal
(start bit) is sent and the torque (or force, in the case of a
linear drive) is built up in the direction of the nominal value's
sign. 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.
Once the nominal value has been reached, taking into ac-
count the target window and the time window, the “MC” sig-
nal is set. Force/torque continue to be controlled.
If the distance set in path/stroke monitoring (relative to the
start position) is exceeded, the bit “Stroke limit reached” is
set in the status byte SDIR. The drive is braked with the emer-
gency-stop ramp, is then held in a controlled position (the
current position), and the MC signal is set.
Possible causes of faults:
– Homing not carried out.
– Target position cannot be reached or lies outside the soft-
ware end positions.