Festo Электромотор MTR-DCI - Manual (Page 170)

5. Commissioning
5-72
Festo P.BE-MTR-DCI-DN-EN en 1209a
Overview of parameters involved (see section B.2.9)
Parameter Description FCT PNU CI
Force mode 1) Stroke limitation x 510 60F6/01h
Minimum torque x 511 60F6/05h
Maximum torque x 512 6072h
Force target window (tolerance) x 552 60F6/03h
Damping time in [ms] x 553 60F6/04h
Max. permitted speed x 554 60F6/02h
Start CPOS.B1 = positive edge
(CDIR.B0 = nominal position absolute/relative)
Feedback SPOS.B2 = 0: Motion complete
SPOS.B1 = positive edge: Acknowledge start
SPOS.B4 = 1: Drive is moving
Requirement Device control by PLC/Fieldbus
Controller must be in status “Operation enabled”
1) Other parameters:
6071h Target torque
6076h Rated torque (nominal torque)
6077h Actual torque 6087h Torque slope (torque ramp)
6088h Torque profile type CDIR.B5 Stroke limitation active/inactive
Tab. 5/23: Parameters involved in a direct task (force mode)