Festo Электромотор MTR-DCI - Manual (Page 314)

C. Reference – CANopen and CI objects
C-38
Festo P.BE-MTR-DCI-CO-EN en 1209a
Torque Control parameters
CANopen / CI 60F6h 01h, 05h Record uint16/32 rw
Description Power operation (see section B.2.10)
Stroke limit 60F6h 01h uint32 rw
Maximum permitted stroke with active force control. With active force control,
the actual position relative to the start position must not change by more than
the amount specified in this parameter. In this way you can ensure that, if force
control is activated by mistake (e. g. missing work item), the axis will not per-
form an uncontrolled movement. This parameter is taken into account in all
control modes in which the position controller is not active in the status
“Operation enabled.” Monitoring can be deactivated when bit RCB1.B5 is set.
Value range: 0...4,294,967,295 Inc
Velocity limit 60F6h 02h uint32 rw
Maximum permitted velocity with active force control. In this way the user can
be sure that, if power operation is activated by mistake (e. g. missing work
item), the axis will not accelerate uncontrolled and strike against a stop at high
speed. This parameter is taken into account in all control modes in which the
position controller is not active in the status “Operation enabled.” Value range:
1...4,294,967,295 inc/s
Force target
window
60F6h 03h uint16 rw
This is the amount by which the actual force (actual torque) may differ from the
nominal force (nominal torque), in order to be interpreted as still being in the
target window. The width of the window is twice the value transferred, with the
target position in the centre of the window. The value is specified in 1/1000 of
the rated torque (6076h).
Value range: 0...65535. Default: 100.
Damping time 60F6h 04h uint16 rw
If the actual force (actual torque) has been in the target window this amount of
time, the “Target reached” bit will be set in the status word (Motion Complete).
Value range: 0...30000 ms. Default: 100 ms
Min. Torque (min.
permitted force/
torque)
60F6h 04h uint32 rw
This value represents the lowest permitted torque (force) of the motor. The
value is specified in 1/1000 of the rated torque (6076h / PNU 509). Value
range: 0...1000 (0x03E8).
FHPP 510/554/
552/553/
511 – Array uint16/32 rw