Festo Электромотор MTR-DCI - Manual (Page 307)

C. Reference – CANopen and CI objects
C-31
Festo P.BE-MTR-DCI-CO-EN en 1209a
Position actual value
CANopen / CI 6063h – / 00h Var int32 ro
Description Current position of the drive in increments.
Value range: -2
31 ... +(2 31 -1)
Value is only updated at the end of a control cycle.
Position actual value
CANopen / CI 6064h – / 00h Var int32 ro
Description Actual position of the drive in increments (cyclic in PDO),
see PNU 1041, section B.2.19.
FHPP 1041 – Var int32 ro
Target position window
CANopen / CI 6067h – / 00h Var uint32 rw
Description Tolerance window in increments, see PNU 1022, section B.2.17.
FHPP 1022 – Var uint32 rw
Position window time (adjustment time position)
CANopen / CI 6068h – / 00h Var uint16 rw
Description Adjustment time in milliseconds, see PNU 1022, section B.2.17.
FHPP 1023 – Var uint16 rw
Velocity demand value
CANopen / CI 606Bh – / 00h Var int32 ro
Description Current nominal velocity value of speed regulator in increments.
Value range: -2
31 ... +(2 31 -1)
Velocity actual value
CANopen / CI 606Ch – / 00h Var int32 ro
Description Current nominal velocity value of speed regulator in increments.
Value range: -2
31 ... +(2 31 -1)