Festo Электромотор MTR-DCI - Manual (Page 304)

C. The Command Interpreter (CI)
C-30
Festo P.BE-MTR-DCI-DN-EN en 1209a
Profile Acceleration
CI 6083h 00h Var uint32 rw
Description Acceleration for a positioning movement in increments/s 2 .
See 20E0/04h
Writing the object does not yet trigger movement.
The acceleration is stored in the position table in the column provided, on the
line addressed by object 2032h or specified by the direct mode.
Value range and default: See 20E0/04h.
Motion Profile Type
CI 6086h 00h Var int16 rw
Description Type of the mode of acceleration ramp (linear, sin @ etc.).
Fixed = -1 (0xFFFF): Linear ramp
Torque Slope
CI 6087h 00h Var uint32 r
Description Rate of change in torque (or force)
Unit of measurement: 1/1000 of the nominal (rated) torque (6076h) per
second
Fixed: 10000 (0x2710)
Torque Profile Type
CI 6088h 00h Var uint32 r
Description Type of profile used for a change in torque.
Fixed: 0x0000 - Linear ramp