User Manual

5. Commissioning
5−69
Festo GDCP−SFC−LACI−DN−EN en 0812NH
Procedure for specifying a force
Notes on force control
Control of the motor force occurs indirectly via current
regulation. All force specifications refer to the rated motor
force (relat
ive to the rated motor current). The actual force
at the axis should be calculated/checked and then set with
external measuring devices
during commissioning.
Force control is prepared when the control mode is switched
over. The drive stands with the position controlled. The signa
l
MC (Motion Complete) is used in this control mode to mean
Force value reached."
After the setpoint value has been specified, the fo
rce is built
up by the start signal (START bit) in the direction of the sign
of the setpoint value. The speed is limited to the value in
the
parameter Speed limit." Once this speed has been reached,
the bit Speed limit reached" is set in the status byte SDIR.
When the setpoi
nt value has been reached, taking into
account the target window and the time window, the MC"
signal is set. The force continues to be
controlled.
If the path set in the path/stroke monitoring (relative to the
starting position) is exceeded, the bit Stroke limit reached"
is se
t in the status byte SDIR. The drive is braked with the
emergency stop ramp, held with the position controlled at the
current position, and the M
C signal" is set.
The smallest permitted force setpoint value is 30 % of the
rated force. If smaller values are specified, these will be
rai
sed to 30 %.