Festo Электромотор MTR-DCI - Manual (Page 299)

C. Reference – CANopen and CI objects
C-23
Festo P.BE-MTR-DCI-CO-EN en 1209a
Record table element
CANopen / CI 20E0h 01h ... 05h Record uint16, int32 rw
Description Editing the entries in the position record table:
1. Select line (= position number) with object 2032h.
2. Select column under subindex 20E0h: 01...04
20E0/01 20E0/02
V 20E0/03 20E0/04
Record
Number Pos-set
mode Target
position Profile
velocity Profile
acc.
02
2032h
} 03 <1> <...> ... ...
...
The values are only saved in the position table with this command;
no movement is made.
Positioning mode 20E0h 01h uint16 rw
Positioning mode (record control word). Values:
0 (0x0000):
absolute positioning (default)
1 (0x0001): relative positioning
Target position 20E0h 02h int32 rw
Target position in increments ( Z object 607Ah).
Value range: -2 31 ...+(2 31 -1) (0x80000000 ... 0x7FFFFFFF). Default: 0
Velocity 20E0h 03h int32 rw
Positioning velocity in increments ( Z object 607Ah).
Value range (depending on axis type, see object 20E2/04):
MTR-DCI-...
Value range
...-32...-G7 (G14) 0...66000 DMES-18: Z 0...12(6) mm/s
...-42...-G7 (G14) 0...100000 DMES-25: Z 0...18.5(9.1) mm/s
...-52...-G7 (G14) 0...100000 DMES-40:
Z 0...29.6(14.6) mm/s
...-62...-G7 (G14) (G22) 0...113400 DMES-63: Z 0...50.4(24.7)(15.3) mm/s
Acceleration 20E0h 04h int32 rw
Acceleration in increments/s 2 ( Z object 6083h).
Value range (depending on axis type, see object 20E2/04):
MTR-DCI-32/42: 40000...480000 MTR-DCI-52/62: 40000...240000
Default:
MTR-DCI-32/42:
480000 (0x00075300)
MTR-DCI-52: 240000 (0x0003A980)
MTR-DCI-62: 160000 (0x00027100)
By way of object 20E0 access is effected in part to the same parameters as with the corresponding
objects 607Ah, 6081h, 6083h, 6084h or objects 20EAh to 20EFh. Different data types are converted
accordingly during writing and reading.