Festo Электромотор MTR-DCI - Manual (Page 176)

5. Commissioning
5-78
Festo P.BE-MTR-DCI-CO-EN en 1209a
Sequence
1. The user sets the desired nominal value (in % of the rated
motor torque) and the speed limitation in his output data.
2. With the rising edge at Start (CPOS.B1) the controller ac-
cepts the nominal torque and builds up the force/torque
in the direction of the sign of the nominal value.
– When this speed has been reached, the bit “Speed
limit reached” is set (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 motor current will still be con-
trolled.
– If there is a resistance e. g. by a work item in the posi-
tioning range, the drive will press against the obstruc-
tion with a defined force (see Fig. 5/8).
– If the path set in the path/stroke monitoring (relative
to the starting position) is exceeded, the bit “Stroke
limit reached” is 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.
Causes of faults:
– No referencing carried out.
– Axis stands at the start of the positioning task in the soft-
ware end position.