Festo Электромотор MTR-DCI - Manual (Page 264)

B. Reference – Festo Handling and Positioning Profile (FHPP)
B-46
Festo P.BE-MTR-DCI-CO-EN en 1209a
Homing Velocities
FHPP 1012 1, 2 Array uint32 rw
Description Speeds during homing in [inc/s].
Search REF 1012 1 uint32 rw
Speed when searching for the reference point REF in [inc/s]
Value range:
MTR-DCI-32:
200...33000 MTR-DCI-42: 200...50000
MTR-DCI-52: 200...50000 MTR-DCI-62: 200...56700
Default:
MTR-DCI-32:
27000 MTR-DCI-42: 22400
MTR-DCI-52/62: 16800
Search AZ 1012 2 uint32 rw
Speed of travel to the axis zero point AZ in [inc/s]
Value range:
MTR-DCI-32:
200...33000 MTR-DCI-42: 200...50000
MTR-DCI-52: 200...50000 MTR-DCI-62: 200...56700
Default:
MTR-DCI-32:
27000 MTR-DCI-42: 22400
MTR-DCI-52/62: 16800
CANopen / CI 6099h 01h, 02h Array uint32 rw
CiA 402: Homing Speeds
Homing Required (reference travel necessary)
FHPP 1014 – Var uint8 rw
Description Defines whether or not reference travel must be carried out after switching on
in order to carry out positioning tasks.
When the logic voltage supply of the MTR-DCI-CO has been switched on,
a reference run must always be carried out.
Fixed = 1: Reference travel must be carried out
CANopen / CI 23F6h – / 00h Var uint8 rw
Homing Max. Torque (reference travel max. torque)
FHPP 1015 – Var uint8 rw
Description Maxmum current consumption during reference travel in percent of the rated
current (see PNU 1035 / CI object 6075h).
Compare PNU 1034 (specification in permil).
Value range: 0 ... 200 (0xC8). Default: 150 (0x96)
CANopen / CI 23F7h – / 00h Var uint8 rw