Festo Электромотор MTR-DCI User Manual
Page 307
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C. Reference – CANopen and CI objects
C-31
Festo P.BE-MTR-DCI-CO-EN en 1209a
Position actual value
CANopen / CI
6063h
– / 00h
Var
int32
ro
Description
Current position of the drive in increments.
Value range: -2
31
... +(2
31
-1)
Value is only updated at the end of a control cycle.
Position actual value
CANopen / CI
6064h
– / 00h
Var
int32
ro
Description
Actual position of the drive in increments (cyclic in PDO),
see PNU 1041, section B.2.19.
FHPP
1041
–
Var
int32
ro
Target position window
CANopen / CI
6067h
– / 00h
Var
uint32
rw
Description
Tolerance window in increments, see PNU 1022, section B.2.17.
FHPP
1022
–
Var
uint32
rw
Position window time (adjustment time position)
CANopen / CI
6068h
– / 00h
Var
uint16
rw
Description
Adjustment time in milliseconds, see PNU 1022, section B.2.17.
FHPP
1023
–
Var
uint16
rw
Velocity demand value
CANopen / CI
606Bh
– / 00h
Var
int32
ro
Description
Current nominal velocity value of speed regulator in increments.
Value range: -2
31
... +(2
31
-1)
Velocity actual value
CANopen / CI
606Ch
– / 00h
Var
int32
ro
Description
Current nominal velocity value of speed regulator in increments.
Value range: -2
31
... +(2
31
-1)