User guide

3. Drive functions
3−65
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Defined switching conditions in the CMAX
Value DescriptionCondition
6 ...
10
 Reserved
11 Stroke The preselected value is inter
preted as the stroke 1 (position
difference, with sign). The stroke
refers to the last target position,
not the actual position reached
during the last positioning.
The switch 2 occurs after reach
ing the specified stroke.
If the current record has already
been started by means of chain
ing, the preselected value refers
to the switching position.
If the record is started without
MC, the preselected value refers
to the starting position.
2
1
MC
Target position
Position
Speed
12 MC
The preselected value includes a
waiting time T1 1 in millisec
onds.
The waiting time starts after re
aching the target setpoint value,
i.e. when the MC condition is met.
Switching occurs after this wait
ing time 2 elapses.
Therefore, the axis is at a stand
still for a moment during position
ing, but not necessarily during
force control.
2
1
MC
Position
Speed
Note:
 Motion Complete is also not set to 1 for this switching condition while the
record is being processed, but only when the CMA X has carried out the last
chained record.