Festo Электромотор MTR-DCI - Manual (Page 289)

B. Supplementary information
B-83
Festo P.BE-MTR-DCI-PB-EN en 1209a
Actual Torque
CI access 6077h 00h Var int16 r
Description Actual value in Force mode in 1/1000 of the nominal value (6072h)
Target Position
CI access 607Ah 00h Var int32 rw
Description For defining or reading a target position in increments.
This position is saved in the position table in the column provided in the line
addressed by object 2032. No movement is made at this time.
Value range: -2
31 ... +(2 31 -1)
Profile Velocity
CI access 6081h 00h Var int32 rw
Description Final speed for a positioning procedure, in increment/s.
This position is saved in the position table in the column provided in the line
addressed by object 2032. No movement is made at this time.
Value range and default: see 20E003h.
Profile Acceleration
CI access 6083h 00h Var int32 rw
Description Acceleration for a positioning movement (compare 6081) in increments/s 2 .
Value range and default: see 20E004h.
Torque Slope
CI access 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)