User guide

5. Parameter
5−54
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
Permitted stroke during force control
PNU PNU: 510 Index: 1 Max index: 1 Class: Var Data type: int32
Values Unit: Position (index = 1)
Linear drive Semi−rotary drive
Dimension Default Minimum Maximum Dimension Default Minimum Maximum
SI 0.01 mm 5.000 100 1.000.000 0,1 ° 100 10 100.000
Imperial 0.001 in 2.000 39 393.701 0,1 ° 100 10 100.000
Maximum permitted stroke with active force control.
With active force control, the actual position relative to the start position must not change by more
than the amount specified in this parameter. In this way you can ensure that, if force control is acti
vated by mistake (Workpiece missing" for example), the axis will not perform an uncontrolled move
ment.
This parameter is only taken into account during force control, if the CMAX has Operation enabled."
status.
Monitoring can be deactivated by setting the bits RCB1.XLIM or CDIR.XLIM.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
o After writing, controller recalculation is carried out.
Lower limit setpoint force)
PNU PNU: 511 Index: 1 Max index: 1 Class: Var Data type: int32
Values Unit: Force (index = 3)
Linear drive Semi−rotary drive
Dimension Default Minimum Maximum
Force control is not permissible with semi−
d
SI 1 N 0 −100.000 0
p
rotary drives.
Imperial 1 lbf 0 −22.481 0
Smallest permitted setpoint value for a force control. A smaller setpoint value leads to a fault or
warning.
If both the smallest and the largest (PNU 512) permissible force setpoint value are set to zero, the
setpoint limits are ignored when executing a force task.
o The parameter value cannot be changed.
o Writing permissible only in commissioning/parametrising mode with disabled controller.
o This parameter can be written by FCT without higher−order controller.
ý After writing, controller recalculation is carried out.