Force mode – Festo Электромотор MTR-DCI User Manual
Page 242

B. Supplementary information
B-36
Festo P.BE-MTR-DCI-PB-EN en 1209a
Force mode
Stroke Limit
PNU
510
–
–
uint32
rw
Description
Maximum permitted stroke when Force mode is active. With Force mode active,
the distance between the actual position and the start position must not be more
than the amount specified in this parameter. In this way you can ensure that, if
Force mode is activated by mistake (e.g. when workpiece is missing), the axis will
not perform an uncontrolled movement. This parameter is evaluated in all con-
troller modes in which the position controller is not active when the status “oper-
ation enabled” is set.
The monitoring can be deactivated by setting the bit RCB1.B5.
Value range: 0...4,294,967,295 inc
CI access
60F6h
01h
uint32
rw
Min. Torque (min. permitted force/torque)
PNU
511
–
–
uint16
rw
Description
This value represents the lowest permissible torque (or force) of the motor. The
value is given in 1/1000 of the nominal torque (6076h / PNU 509).
Value range: 0...1000 (0x03E8)
CI access
60F6h
05h
uint16
rw
Max. Torque (max. permitted force/torque)
PNU
512
–
–
uint16
rw
Description
This value represents the highest permissible torque (or force) of the motor. The
value is given in 1/1000 of the nominal torque (6076h / PNU 509).
Value range: 0...1000 (0x03E8)
CI access
6072h
00h
uint16
rw