Festo Электромотор MTR-DCI - Manual (Page 168)

5. Commissioning
5-70
Festo P.BE-MTR-DCI-DN-EN en 1209a
Note on Force mode
The motor torque is controlled indirectly via the regulation
of the current. All specification for forces/torques are
defined in relation to the nominal motor torque (relative to
the nominal motor current). The actual force on the axis
should be determined/checked during commissioning
using external measuring devices and adjusted.
Note
The following settings are necessary for parameterising the
force mode (see Tab. 5/23)
– Force window (permissible deviation from the nominal
value obtained via Fieldbus).
– Speed limiting (the maximum speed that the drive
should reach. Without this specification, the drive would
accelerate unbraked if it encounters no opposing force
(e.g. missing workpiece).
– Damping time (the time that the nominal force must be
applied before the “Motion complete” message is gener-
ated).
• Extend the damping time if the nominal force is already
reached on startup (before reaching the workpiece) due
to the increased startup toque.
Force mode is prepared by switching the control mode. The
drive remains stationary in a controlled position.