Festo Контроллеры двигателя SFC-LAC - Manual (Page 365)

C. Object directory DS402 and CI
C−39
Festo GDCP−SFC−LACI−CO−EN en 0812NH
Target torque
DS402 / CI 6071h 00h Var int16 rw
Description Nominal value for force control. Specified in 1/1000 of rated value (PNU 512).
Transmitted in the PDO1 as with device profile DS402.
Value range: 300 ... 1000 permil.
Actual torque/force
DS402 / CI 6077h 00h Var int16 r
Description Actual value in force mode. Specified in 1/1000 of rated value (PNU 512).
Target position
DS402 / CI 607Ah 00h Var int32 rw
Description Defining or reading a target position in increments.
This position will be saved in the position table in the column intended in
the line addressed by object 2032. No movement is made at this point.
For values, see 20E0/02
h
.
Profile velocity
DS402 / CI 6081h 00h Var int32 rw
Description Final speed for a positioning procedure in increment/s.
This position will be saved in the position table in the column intended in
the line addressed by object 2032. No movement is yet made.
For values, see 20E0/03
h
.
Profile acceleration
DS402 / CI 6083h 00h Var uint32 rw
Description Acceleration for a positioning movement (see 6081) in increments/s 2 .
For values, see 20E0/04
h
.