Festo Электромотор MTR-DCI User Manual
Page 259
B. Reference – Festo Handling and Positioning Profile (FHPP)
B-41
Festo P.BE-MTR-DCI-CO-EN en 1209a
B.2.15 Axis parameter electric drives 1 – mechanical
Polarity (reversal of direction)
FHPP
1000
–
Var
uint8
rw
Description
With this parameter the “+/-” direction of the position values (vectors) can be
assigned to the direction of rotation of the motor shaft (see section 1.6.2). New
reference travel is then required.
Values:
0 (0x00)
= factory setting
(“+” corresponds to rotational movement in a clockwise direction)
128 (0x80) = reverse direction
(“+” corresponds to rotational movement in an anti-clockwise
direction)
CANopen / CI
607Eh
– / 00h
Var
uint8
rw
Encoder Resolution
FHPP
1001
1, 2
Array
uint32
rw
Description
Encoder resolution in [encoder increments / motor revolutions]
Encoder increments
(encoder
increments)
1001
1
uint32
rw
Values (fixed):
MTR-DCI-32:
300 (0x012C)
MTR-DCI-42/52/62: 500 (0x01F4)
Motor revolutions
(motor revolution)
1001
2
uint32
rw
Fix = 1
CANopen / CI
608Fh
01h, 02h
Array
uint32
rw
In CANopen “Position Encoder Resolution”