User guide

5. Parameter
5−55
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
Upper limit setpoint force
PNU PNU: 512 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−
SI 1 N 0 0 100.000
p
rotary drives.
Imperial 1 lbf 0 0 22.481
Largest permitted setpoint value for a force control. A larger setpoint value leads to a fault or
warning.
If both the smallest (PNU 511) 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.
Permitted speed during force control
PNU PNU: 514 Index: 1 Max index: 1 Class: Var Data type: int32
Values Unit: Speed (index = 6)
Linear drive Semi−rotary drive
Dimension Default Minimum Maximum Dimension Default Minimum Maximum
SI 0,001 m/s 200 10 500 1 °/s 200 10 500
Imperial 0.01 ft/s 65 3 164 1 °/s 200 10 500
Max. permitted speed after start of a force command. This parameter is used for monitoring, not to
limit the speed. If the actual speed exceeds the set value, a fault is indicated, the axis stops and the
force command is cancelled.
The speed limit value must be significantly larger than the speed limit of parameters 406 / 554,
otherwise monitoring will lead to an error when reaching the speed limit. The speed limit value
should preferably be used as a security when the speed limiting (406/554) was deactivated.
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.