Festo Электромотор MTR-DCI - Manual (Page 296)

C. The Command Interpreter (CI)
C-22
Festo P.BE-MTR-DCI-DN-EN en 1209a
Record Table Element
CI 20E0h 01h ... 05h Record uint16, int32 rw
Description For editing the entries in the position set table:
1. Select line (= record number) with object 2032h.
2. Select column via subindex 20E0h: 01...04
20E0/01 20E0/02
V 20E0/03 20E0/04
Record
Number Pos-set
Mode Target
Position Profile
Velocity Profile
Acc.
02
2032h
} 03 <1> <...> ... ...
...
The values are only saved in the position table with this command; no move-
ment is made.
Positioning Mode 20E0h 01h uint16 rw
Positioning mode (record control word). Values:
0 (0x0000):
Absolute positioning (default)
1 (0x0001): Relative positioning
Target Position 20E0h 02h int32 rw
Target position in increments ( Z object 607Ah).
Value range: -2 31 ...+(2 31 -1) (0x80000000 ... 0x7FFFFFFF). Default: 0
Velocity 20E0h 03h int32 rw
Positioning speed in increments/s ( Z object 6081h).
Value range (depending on axis type, see object 20E2/04):
MTR-DCI-...
Value range
...-32...-G7 (G14) 0...66000 DMES-18: Z 0...12(6) mm/s
...-42...-G7 (G14) 0...100000 DMES-25: Z 0...18.5(9.1) mm/s
...-52...-G7 (G14) 0...100000 DMES-40:
Z 0...29.6(14.6) mm/s
...-62...-G7 (G14) (G22) 0...113400 DMES-63: Z 0...50.4(24.7)(15.3) mm/s
Acceleration 20E0h 04h int32 rw
Acceleration in increments/s 2 ( Z object 6083h).
Value range (depending on axis type, see object 20E2/04):
MTR-DCI-32/42: 40000...480000 MTR-DCI-52/62: 40000...240000
Default:
MTR-DCI-32/42:
480000 (0x00075300)
MTR-DCI-52: 240000 (0x0003A980)
MTR-DCI-62: 160000 (0x00027100)
Object 20E0 accesses some of the same parameters as the corresponding objects 607Ah, 6081h,
6083h, 6084h or objects 20EAh to 20EFh. Different data types are converted accordingly when
writing and reading.