Festo Контроллер двигателя CMMD-AS - Manual (Page 51)

3. Product description
Festo P.BE-CMMD-AS-HW-EN 1002NH 51
3.7.3 I²t function
An integrator monitors the current²-time integral of the motor controller. As soon as the
parameterized time is exceeded, a warning message is output and the maximum current is
limited to the rated current.
3.7.4 Positioning controller
A positioning control system is set above the current controller. Up to 64 positions
(homing + 63 positions) can be selected per axis and run via a trajectory generator.
There are also volatile position data records for positioning via the fieldbus.
The position records are made up of a position value and a motion profile. The following
parameters can be set for the eight positioning profiles:
- Travel speed
- Acceleration
- Delay
- Smoothing
- Time
- Start delay
- Final speed
- Wait for current positioning, reject or ignore initial instruction.
From every position record, any other position record can be started directly. You can
transition to a new position record without first coming to a standstill.
The parameter sets can be called up as follows:
- over digital inputs (position record 0 ... 63 per axis)
- over the RS232 interface (for test purposes only) or
- over a fieldbus interface.