Festo Электромотор MTR-DCI User Manual
Page 251
B. Reference – Festo Handling and Positioning Profile (FHPP)
B-33
Festo P.BE-MTR-DCI-CO-EN en 1209a
Record Acceleration
FHPP
407
1...32
Array
uint32
rw
Description
Acceleration setpoint value. The value applies only to positioning; in force
mode, the value is ignored.
CiA 402:
Absolute value in increments/s
2
FHPP:
Specification relative to maximum value in the project data.
Two resolutions are possible:
In percent or 1/1000 of the maximum value (see project data).
Range of values:
MTR-DCI-32/42:
40000...480000
MTR-DCI-52/62:
40000...240000
Default:
MTR-DCI-32: 480000 (0x00075300)
MTR-DCI-42: 480000 (0x00075300)
MTR-DCI-52: 240000 (0x0003A980)
MTR-DCI-62: 160000 (0x00027100)
Record 0 407
1
uint32
rw
Nominal acceleration value positioning record 0 (reference travel)
Record ... 407
...
uint32
rw
Nominal acceleration value positioning record 1 ... 30
Record 31 407
32
uint32
rw
Nominal acceleration value positioning record 31
CI
20EEh
01h...20h
Array
uint32
rw
Additional subindices of object 20EEh see PNU 532 and 541
Note: Object 20E0h/04h is inteded for access via CANopen.