Festo Электромотор MTR-DCI - Manual (Page 258)

B. Reference – Festo Handling and Positioning Profile (FHPP)
B-40
Festo P.BE-MTR-DCI-CO-EN en 1209a
B.2.14 Project data – Direct mode (power operation)
Force Target window
FHPP 552 –
– uint16 rw
Description This is the amount by which the actual force (actual torque) may differ from the
nominal force (nominal torque), in order to be interpreted as still being in the
target window. The width of the window is twice the value transferred, with the
target position in the centre of the window.
The value is specified in 1/1000 of the rated torque (6076h / PNU 509).
Value range: 0...65535. Default: 100.
CANopen / CI 60F6h 03h uint16 rw
Damping Time
FHPP 553 –
– uint16 rw
Description If the actual force (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
CANopen / CI 60F6h 04h uint16 rw
Speed Limit
FHPP 554 –
– uint32 rw
Description Maximum permitted speed with active force control.
In this way you can ensure that, if force control is activated by mistake
(e. g. work item missing), the axis will not undergo uncontrolled acceleration
and move at high speed against a stop.
This parameter is taken into account in all control modes in which the position
controller is not active in the status “Operation enabled.”
Value range: 1...4,294,967,295 inc/s
CANopen / CI 60F6h 02h uint32 rw