User guide

3. Drive functions
3−67
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Defined switching conditions in the CMAX
Value DescriptionCondition
14 Position at
force
Switching is only permissible in a
force record.
The preselected value is inter
preted as the position value 1.
Switching occurs as soon as the
current actual position reaches
the preselected value, indepen
dently of whether the MC condi
tion for the force task has already
been met (case 3, signals with
solid lines) or not (case 2, sig
nals with dashed lines).
Attention: SPOS.MC (Motion Com
plete) is not set to 1 during record
processing, but only when the
CMAX has carried out the last
chained record.
2
1
MC
Target
force
Position
Target position
3
Force
Switching position
Notes:
 The direction of the switching position with respect to the starting position
must agree with the specified direction of the acting force. Otherwise, a
diagnostic message (W27/E27) is output.
If the stroke or speed monitoring is violated, the current positioning record is
ended and record switching does not occur.
 The timeout time (force) begins to elapse again when the MC condition is
met for the force task. If the switching position is not reached within the
timeout time, the current positioning record is ended, no record switching
occurs, SPOS.MC is set to 1 and a diagnostic message (W28/E28) is output.
If the timeout time for force control is deactivated (set to 0), the drive waits
indefinitely for the switching position to be reached.
15 ...
128
 Reserved
Tab.3/23: Switching conditions