Festo Электромотор MTR-DCI - Manual (Page 306)

C. Reference – CANopen and CI objects
C-30
Festo P.BE-MTR-DCI-CO-EN en 1209a
Hold option code
CANopen / CI 605Dh – / 00h Var uint16 rw
Description Describes the reaction to a Hold command.
see PNU 1020, section B.2.17.
FHPP 1020 – Var uint16 rw2
Fault reaction option code
CANopen / CI 605Eh – / 00h Var uint16 rw
Description Describes the reaction to a fault, see PNU 1021, section B.2.17.
FHPP 1021 – Var uint16 rw
Operating modes
CANopen / CI 6060h – / 00h Var int8 rw
Description Set the controller operating mode.
Values:
-2 (0xFE): Demo mode (fixed sequence)
1 (0x01): Profile position mode (default, position controller with positioning
mode)
3 (0x03): reserved
4 (0x04): Profile torque mode (power operation)
6 (0x06): Homing mode
Operating mode display
CANopen / CI 6061h – / 00h Var int8 ro
Description Read current controller operating mode.
Values see object 6060h.
Position demand value (nominal position)
CANopen / CI 6062h – / 00h Var int32 ro
Description Target position of the last positioning task in increments.
see PNU 1040, section B.2.19.
FHPP 1040 – Var int32 ro
In FHPP: “Position target value”