User guide

B. Basic controlling principles
B−53
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Monitoring of the software end positions
If a software end position is reached during force control, the
axis is stopped and a fault is reported. Setting both software
end positions = 0 deactivates this monitoring.
MC (Motion Complete)
In compliance with the MC conditions, Motion Complete re
ports that the setpoint force has been
reached.
Under unfavourable conditions during force control, the
break−away force may result in the MC condition being ful
filled even at the beginning of the task. Here the criteria for
the MC condition can be influenced via the parameters moni
toring time, tolerance etc.