User guide

B. Basic controlling principles
B−45
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
If the axis is in the process of performing positioning, it is
stopped first. Only then does force control begin.
1 Path
2 Force
3 Velocity
4 Feed phase (V
vor
)
5 Force ramp
6 MC
Path/speed/force
1
2
3
45
S
lim
F
V
lim
V
vor
Stroke monitoring
Target force
Velocity
monitoring
6
Time
Fig.B/3: Force control process
The following options are permitted:
 Stroke and velocity monitoring can be activated or deacti
vated independently of each other for each record (de
fault: activated). However, the limit values are global,
i.e. apply to all records (changes possible in parametris
ing mode).
V
vor
can be deactivated by setting to 0.000 m/s, i.e. the
axis moves force−controlled only. In extreme cases, the
axis may move into the end position unbraked. If revers
ing was deactivated, limit monitoring is still active, pro
vided it was not switched off as well.
 The force setpoint value may have the value
0 N.