Festo Электромотор MTR-DCI - Manual (Page 166)

5. Commissioning
5-78
Festo P.BE-MTR-DCI-PB-EN en 1209a
Overview of parameters involved (see section B.1.11)
Description FCT PNU CI
Position mode Acceleration / deceleration x 541 20EE/34h
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. 5/24: Parameters involved in Direct Mode
Note on Force mode:
The motor torque is controlled indirectly via the regulation
of the current. All specification for forces/torques are de-
fined 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.