Festo Электромотор MTR-DCI - Manual (Page 246)

B. Supplementary information
B-40
Festo P.BE-MTR-DCI-PB-EN en 1209a
Direct mode: Force mode
Force Target Window (target window for force/torque)
PNU 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 access 60F6h 03h uint16 rw
Damping Time
PNU 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 access 60F6h 04h uint16 rw
Speed Limit
PNU 554 – – uint32 rw
Description 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 con-
troller is not active when the status “operation enabled” is set.
Value range: 1...4,294,967,295 inc/s
CI access 60F6h 02h uint32 rw