Festo Электромотор MTR-DCI - Manual (Page 271)

B. Reference – Festo Handling and Positioning Profile (FHPP)
B-53
Festo P.BE-MTR-DCI-CO-EN en 1209a
B.2.19 Axis parameters electric drives 1 – Standstill monitoring
Position Target Value (nominal position)
FHPP 1040 – Var int32 ro
Description Target position of the last positioning task in increments.
Value range: -2
31 ... +(2 31 -1)
CANopen / CI 6062h – / 00h Var int32 ro
Position Actual Value
FHPP 1041 – Var int32 ro
Description Current position of the drive in increments.
Value range: -2
31 ... +(2 31 -1)
CANopen / CI 6064h – / 00h Var int32 ro
Standstill Position Window
FHPP 1042 – Var uint32 rw
Description Standstill position window in increments. Amount by which the drive may move
after MC, until the standstill monitoring responds. Value range: 0...+(2
32 -1).
Default: 750 (0x02EE)
CANopen / CI 2040h – / 00h Var uint32 rw
Standstill Timeout
FHPP 1043 – Var uint16 rw
Description Standstill monitoring time in [ms}: Time during which the drive must be outside
the standstill position window before the standstill monitoring responds.
Value range: 0...65535 (0xFFFF). Default: 200 (0x00C8)
CANopen / CI 2041h – / 00h Var uint16 rw