Festo Электромотор MTR-DCI User Manual
Page 271
B. Reference – Festo Handling and Positioning Profile (FHPP)
B-53
Festo P.BE-MTR-DCI-CO-EN en 1209a
B.2.19 Axis parameters electric drives 1 – Standstill monitoring
Position Target Value (nominal position)
FHPP
1040
–
Var
int32
ro
Description
Target position of the last positioning task in increments.
Value range: -2
31
... +(2
31
-1)
CANopen / CI
6062h
– / 00h
Var
int32
ro
Position Actual Value
FHPP
1041
–
Var
int32
ro
Description
Current position of the drive in increments.
Value range: -2
31
... +(2
31
-1)
CANopen / CI
6064h
– / 00h
Var
int32
ro
Standstill Position Window
FHPP
1042
–
Var
uint32
rw
Description
Standstill position window in increments. Amount by which the drive may move
after MC, until the standstill monitoring responds. Value range: 0...+(2
32
-1).
Default: 750 (0x02EE)
CANopen / CI
2040h
– / 00h
Var
uint32
rw
Standstill Timeout
FHPP
1043
–
Var
uint16
rw
Description
Standstill monitoring time in [ms}: Time during which the drive must be outside
the standstill position window before the standstill monitoring responds.
Value range: 0...65535 (0xFFFF). Default: 200 (0x00C8)
CANopen / CI
2041h
– / 00h
Var
uint16
rw