Festo Контроллеры двигателя SFC-LAC - Manual (Page 228)

B. Supplementary information
B−66
Festo GDCP−SFC−LACI−IO−EN en 0812NH
Torque/force mode
CI 60F6h 01h...05h Struct rw
Description Configuration of the operating mode force control"
Stroke limit 01h uint32
Maximum permitted stroke with force control.
The distance of the actual position from the start position must not be more than
the amount specified in this parameter. In this way you can ensure that, if force
control is activated by mistake (e.Ăg. missing work item), the axis will not perform
an uncontrolled movement. This parameter is taken into account in all control moĆ
des in which the position controller is not active in the status Operation enaĆ
bled."
Speed limit 02h uint32
Maximum permitted velocity with active force control.
In this way you can ensure that, if force control is activated by mistake
(e.Ăg. work item missing), the axis will not undergo uncontrolled acceleration
and move at high speed against a stop.
This parameter is taken into account in all control modes in which the position
controller is not active in the status Operation enabled."
Force target
window
03h uint16
window
This is the amount by which the actual force may differ from the setpoint force
in order to be interpreted as still being in the target window. The width of the
window is twice the value transferred, with the target position in the centre of
the window. The value is specified in permil of the rated value (6076h). Value
range: 0...65535. Default: 100
Damping time 04h uint16
If the actual force (actual torque) has been in the target window this amount of
time, the Motion complete" bit will be set in the status word.
Value range: 0...30000 ms. Default: 100 ms.
Min. torque/force
(min permitted
05h uint16
(min. permitted
force) The lowest permitted torque of the motor in permil of the rated value (6076h).
Fixed = 300.