Festo Электромотор MTR-DCI User Manual
Page 281
B. Supplementary information
B-75
Festo P.BE-MTR-DCI-PB-EN en 1209a
Record Table Element
CI access
20E0h
01h ... 04h
Struct
uint16, int32
rw
Description
For editing the entries in the position set table:
1. The row (= position set record number) is selected with object 2032
(record pointer).
2. The column is selected via subindex 20E0: 01...05
20E0/01
20E0/02
V
20E0/03
20E0/04
Record
Number
Pos 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.
Object 20E0 partly accesses the same parameters as with the corresponding
objects 607A, 6081, 6083, 6084, or with objects 20EA to 20EF provided for
PROFIBUS.
Different data types are converted accordingly when writing and reading.
Positioning mode 20E0h
01h
uint16
rw
Positioning mode.
Values:
0 (0x0000):
Absolute positioning (default)
1 (0x0001):
Relative positioning
Target Position 20E0h
02h
int32
rw
Target position in increments (corresponds to object 607Ah).
Value range: -2
31
...+(2
31
-1) (0x80000000 ... 0x7FFFFFFF)
Default: 0
Velocity 20E0h
03h
int32
rw
Positioning speed in increments (corresponds to object 6081h).
Value range:
MTR-DCI-32: 0...66000 (0x101D0)
MTR-DCI-42: 0...100000 (0x186A0)
MTR-DCI-52: 0...100000 (0x186A0)
MTR-DCI-62: 0...113400 (0x1BAF8)
Default: 0