Festo Электромотор MTR-DCI - Manual (Page 310)

C. Reference – CANopen and CI objects
C-34
Festo P.BE-MTR-DCI-CO-EN en 1209a
Profile Velocity (speed)
CANopen / CI 6081h – / 00h Var uint32 rw
Description Final speed for a positioning procedure in increment/s.
Writing the object does not yet trigger movement.
CiA 402: Speed at which travel should be done in positioning mode.
FHPP: The velocity will be stored in the intended line addressed by object
2032h in the column intended in the position table for the direct mode.
Value range and default: see 20E0/03h.
Profile Acceleration
CANopen / CI 6083h – / 00h Var uint32 rw
Description Acceleration for a positioning movement in increments/s 2 .
Compare 20E0/04h
Writing the object does not yet trigger movement.
CiA 402: Acceleration at which travel should be done in positioning mode.
FHPP: The acceleration will be stored in the intended line addressed by object
2032h in the column intended in the position table for the direct mode.
Value range and default: see 20E0/04h.
Motion Profile Type (available movement profiles)
CANopen / CI 6086h – / 00h Var int16 rw
Description Type of acceleration ramp (linear, sin @ etc.).
Fixed = -1 (0xFFFF): Linear ramp
Torque Slope (torque modification)
CANopen / CI 6087h 00h Var uint32 r
Description Modification speed of torque (or of force)
Unit: Permil of rated torque (6076h) per second
Fixed: 10000 (0x2710)
Torque Profile Type
CI access 6088h 00h Var uint32 r
Description Type of profile with which a torque modification is undertaken.
Fixed: 0x0000 - Linear ramp