Festo Электромотор MTR-DCI User Manual
Page 304
C. The Command Interpreter (CI)
C-30
Festo P.BE-MTR-DCI-DN-EN en 1209a
Profile Acceleration
CI
6083h
00h
Var
uint32
rw
Description
Acceleration for a positioning movement in increments/s
2
.
See 20E0/04h
Writing the object does not yet trigger movement.
The acceleration is stored in the position table in the column provided, on the
line addressed by object 2032h or specified by the direct mode.
Value range and default: See 20E0/04h.
Motion Profile Type
CI
6086h
00h
Var
int16
rw
Description
Type of the mode of acceleration ramp (linear, sin
@ etc.).
Fixed = -1 (0xFFFF): Linear ramp
Torque Slope
CI
6087h
00h
Var
uint32
r
Description
Rate of change in torque (or force)
Unit of measurement: 1/1000 of the nominal (rated) torque (6076h) per
second
Fixed: 10000 (0x2710)
Torque Profile Type
CI
6088h
00h
Var
uint32
r
Description
Type of profile used for a change in torque.
Fixed: 0x0000 - Linear ramp