Festo Электромотор MTR-DCI - Manual (Page 305)

C. The Command Interpreter (CI)
C-31
Festo P.BE-MTR-DCI-DN-EN en 1209a
Torque Control parameters
CI 60F6h 01h, 05h Record uint16/32 rw
Description Force mode (see section B.2.10)
Stroke Limit 60F6h 01h uint32 rw
Maximum permitted stroke when Force mode is active. With Force mode active,
the distance between the actual position and the start position must not be
more than the amount specified in this parameter. In this way you can ensure
that, if Force mode is activated by mistake (e. g. when workpiece is missing),
the axis will not perform an uncontrolled movement. This parameter is evalu-
ated in all controller modes in which the position controller is not active when
the status “operation enabled” is set. The monitoring can be deactivated by
setting the bit RCB1.B5. Value range: 0...4.294.967.295 inc
Speed Limit 60F6h 02h uint32 rw
Maximum permitted speed when Force mode is active. In this way the user can
ensure that, if Force mode is activated by mistake (e. g. when workpiece is
missing), the axis will not undergo uncontrolled acceleration and travel at high
speed against a stop. This parameter is evaluated in all controller modes in
which the position controller is not active when the status “operation enabled”
is set. Value range: 1...4.294.967.295 inc/s
Force Target
Window (target
window for force/
torque)
60F6h 03h uint16 rw
The amount by which the actual force (or actual torque) may deviate from the
nominal force (nominal torque) and still be regarded as being within the target
window. The width of the window is therefore twice the value transferred, with
the nominal force in the centre of the window. The value is given in 1/1000 of
the rated torque (6076h).
Value range: 0...65535. Default: 100.
Damping Time 60F6h 04h uint16 rw
Once the actual force (or 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 permissible torque (or force) of the motor. The
value is given in 1/1000 of the nominal torque (6076h / PNU 509). Value range:
0...1000 (0x03E8).
FHPP 510/554/
552/553/
511 – Array uint16/32 rw