Festo CMMP-AS-M3 Serie Manual De Instrucciones página 200

7 Tipos de funcionamiento
[acceleration
acceleration_factor
(6097 )
h
Acceleration
positon_actual_value (6063
velocity_demand_value (606B
velocity_control_parameter_set (60F9
velocity_treshold (606F
velocity_actual_value (606C
velocity_treshold (606F
velocity_window_time (606E
velocity_actual_value (606C
velocity_window (606D
Fig. 7.24 Estructura del funcionamiento con regulación de velocidad (Profile Velocity Mode)
200
profile_acceleration (6083
profile_deceleration (6084
[acceleration
units]
units]
Multiplier
Profile Profile
Deceleration
Differentiation
)
h
)
h
)
h
)
h
)
h
)
h
)
h
)
h
)
h
)
h
)
h
quick_stop_deceleration (6085
[acceleration
units]
Multiplier
Quick Stop Profile
Deceleration Velocity
velocity_demand_value (606B
Velocity_actual_value (606C
d/dt
Velocity
Controller
Window
Comparator
Window
Comparator
Festo – GDCP-CMMP-M3-C-CO-ES – 1203NH
)
h
velocity_encoder_factor
(6094 )
h
)
h
)
h
control effort
status_word (6041 )
h
velocity = 0
status_word (6041 )
h
velocity_reached