Speed Mode (Binary Profile Only) - Festo CMMO-ST Manual

5 Commissioning
5.6.2

Speed mode (binary profile only)

Command records of type "V" (= Velocity) or "VSL" (= Velocity Stroke limit) are used to reach and
maintain a certain speed.
The actual speed is specified at the start of the speed record, e.g. by the previous command record.
Parameter overview/objects for record table – speed mode
Record type:
Type "V" = speed mode without stroke limit
Type "VSL" = speed mode with stroke limit
Stroke limit (type "VSL" only)
Speed
1)
Acceleration
Deceleration (i.e. braking)
1)
Max. jerk
1)
Max. force
Deviation (speed following error)
Comments (max. 32 characters per record)
Applied load (linear axis: workpiece mass; axis of rotation: inertia)
Other CVE objects: #31 record number preselection; #141 current record number.
1) These parameters always have a positive prefix.
Tab. 5.9 Parameters for record table during speed mode
Target recognition (Motion complete/MC)
The "target" of a speed record is deemed to have been reached if the following two conditions are
fulfilled:
– The actual speed is located in the target speed window (identical for all positioning records,
FCT, "Messages" page).
– The first condition has at least been fulfilled over the specified time period ("MC damping time",
identical for all records,
Behaviour after target recognition:
– In closed-loop operation: As long as no other drive function is executed, the drive will continue to
run at the setpoint speed. Monitoring of the speed deviation remains active until a new drive func-
tion is executed. The force is limited to the maximum value specified in the speed record. Stroke
limitation remains active. If there are deviations from the parameterised speed, a following error is
reported.
– In open-loop operation: As long as no other drive function is executed, the drive will continue to run
with the parameterised current. Stroke limitation remains active. Deviations from the nominal
speed are not detected.
Festo – GDCP-CMMO-ST-EA-SY-EN – 1301a – English
1)
FCT, "Messages" page).
FCT
x
x
x
x
x
x
x
x
x
x
79