Direct Operating Mode: Force Control - Festo CPX Series Manual

5. Parameter

5.4.9 Direct operating mode: Force control

Direct mode force base value force ramp
PNU PNU: 550
Values Unit: Force ramp (index = 8)
Linear drive
Dimension Default
SI 1 N/s
Imperial 1 lbf/s
Base value for the force ramp in direct mode. The master transmits a percent value, which is multi
plied by the base value to reach the final setpoint speed.
Depending on PNU 521:03, the corresponding default value is used instead, if necessary.
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.
Direct mode force workpiece mass
PNU PNU: 551
Values Unit: Mass (index = 5)
Linear drive
Dimension Default
SI 0.1 kg
Imperial 1 lb
Workpiece mass in force control direct mode.
Depending on PNU 521:03, the corresponding default value is used instead, if necessary.
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.
Festo P.BE−CPX−CMAX−CONTROL−EN en 0908NH
Index: 1
Minimum
1.000 10
200 2
Index: 1
Minimum
0 0
0 0
Max index: 1 Class: Var
Semi−rotary drive
Maximum Force control is not permissible with semi−
rotary drives.
100.000
22.481
Max index: 1 Class: Var
Semi−rotary drive
Maximum Force control is not permissible with semi−
rotary drives. d
20.000
4.409
Data type: int32
p
Data type: int32
p
5−65