Festo Электромотор MTR-DCI - Manual (Page 259)

B. Reference – Festo DeviceNet and FHPP
B-37
Festo P.BE-MTR-DCI-DN-EN en 1209a
B.2.14 Project data – Direct mode: (Force mode)
Force Target Window
FHPP 552 – – uint16 rw
Description The amount by which the actual force (or actual torque) may deviate from the
nominal force (nominal torque) and still be regarded as being within the target
window. The width of the window is therefore twice the value transferred, with
the nominal force in the centre of the window. The value is given in 1/1000 of
the nominal torque (6076h / PNU 509). Value range: 0...65535. Default: 100.
CI 60F6h 03h – uint16 rw
DeviceNet 69h 01h 29h uint32 rw
Damping Time
FHPP 553 – – uint16 rw
Description Once the actual force (or actual torque) has been in the target window
this amount of time, the “target reached” bit will be set in the status word
(= motion complete).
Value range: 0...30000 ms. Default: 100 ms.
CI 60F6h 04h – uint16 rw
DeviceNet 69h 01h 35h uint16 rw
Speed Limit
FHPP 554 – – uint32 rw
Maximum permitted speed when Force mode is active. In this way the user can
ensure that, if Force mode is activated by mistake (e. g. when workpiece is
missing), the axis will not undergo uncontrolled acceleration and travel at high
speed against a stop. This parameter is evaluated in all controller modes in
which the position controller is
not active when in the “operation enabled”
state. Value range: 1...4.294.967.295 inc/s
CI 60F6h 02h – uint32 rw
DeviceNet 69h 01h 36h uint32 rw