Festo Электромотор MTR-DCI - Manual (Page 28)

1. System overview
1-8 Festo P.BE-MTR-DCI-PB-EN en 1209a
Changes in position are recognized by the internal increment-
al encoder (optical encoder). With a known starting point, the
actual position is calculated from the gear reduction and/or
the spindle pitch.
Profile torque mode Force control.
Force control (open loop transmission control) via regulation
of the motor current
. This operating mode enables an extern-
al torque nominal value (relative to the motor nominal cur-
rent) to be specified to the controller. Power control takes
place indirectly via the regulation of the motor current. All
specifications on forces/torques refer to the motor nominal
torque or current.
Referencing mode Reference travel.
Execution of a positioning procedure in which the reference
point and therefore the source of the measuring reference
system of the axis are defined, e.g. via a reference switch
within the possible travel distance or with overcurrent evalu-
ation in the case of movement to a stop.
For commissioning, for testing or for demonstration, the fol-
lowing supplementary functions are also available via the
control panel of the MTR-DCI-...H2:
– Positioning travel for defining the target position of a pos-
itioning record (teach mode), [Settings][Position set]
– Positioning travel for testing all positioning records in the
positioning record table [Demo posit tab].
– Positioning travel for testing a certain positioning record
in the positioning record table [Move posit set].