Festo Электромотор MTR-DCI User Manual
Page 296
C. The Command Interpreter (CI)
C-22
Festo P.BE-MTR-DCI-DN-EN en 1209a
Record Table Element
CI
20E0h
01h ... 05h
Record
uint16, int32
rw
Description
For editing the entries in the position set table:
1. Select line (= record number) with object 2032h.
2. Select column via subindex 20E0h: 01...04
20E0/01
20E0/02
V
20E0/03 20E0/04
Record
Number
Pos-set
Mode
Target
Position
Profile
Velocity
Profile
Acc.
02
2032h
}
03
<1>
<...>
...
...
...
The values are only saved in the position table with this command; no move-
ment is made.
Positioning Mode 20E0h
01h
uint16
rw
Positioning mode (record control word). Values:
0 (0x0000):
Absolute positioning (default)
1 (0x0001):
Relative positioning
Target Position 20E0h
02h
int32
rw
Target position in increments (
Z object 607Ah).
Value range: -2
31
...+(2
31
-1) (0x80000000 ... 0x7FFFFFFF). Default: 0
Velocity 20E0h
03h
int32
rw
Positioning speed in increments/s (
Z object 6081h).
Value range (depending on axis type, see object 20E2/04):
MTR-DCI-...
Value range
...-32...-G7 (G14)
0...66000
DMES-18:
Z 0...12(6) mm/s
...-42...-G7 (G14)
0...100000 DMES-25:
Z 0...18.5(9.1) mm/s
...-52...-G7 (G14)
0...100000 DMES-40:
Z 0...29.6(14.6) mm/s
...-62...-G7 (G14) (G22)
0...113400 DMES-63:
Z 0...50.4(24.7)(15.3) mm/s
Acceleration 20E0h
04h
int32
rw
Acceleration in increments/s
2
(
Z object 6083h).
Value range (depending on axis type, see object 20E2/04):
MTR-DCI-32/42: 40000...480000 MTR-DCI-52/62: 40000...240000
Default:
MTR-DCI-32/42:
480000 (0x00075300)
MTR-DCI-52:
240000 (0x0003A980)
MTR-DCI-62:
160000 (0x00027100)
Object 20E0 accesses some of the same parameters as the corresponding objects 607Ah, 6081h,
6083h, 6084h or objects 20EAh to 20EFh. Different data types are converted accordingly when
writing and reading.