Festo CMMT-ST-SW, Original Instructions Manual

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Parameters Index.Subindex Name Data type
7118 0x6075.00 Current nominal current UINT32
7139 0x6076.00 Resulting nominal torque UINT32
151 0x6077.00 Actual torque value gear shaft SINT16
814 0x6078.00 Actual active current value SINT16
480 0x6079.00 Actual value DC link voltage UINT32
526799 0x6087.00 Torque slope CiA402 UINT32
853 0x60E0.00 Upper limit value torque (closed loop control-
ler) UINT16
852 0x60E1.00 Lower limit value torque (closed loop control-
ler) UINT16
Px. Manufacturer-specific objects: saved basic unit for the object is effective.
730 0x216D.01 Control word CiA402 UINT16
731 0x216D.02 Status word CiA402 UINT16
526795 0x216F.0D Target torque CiA402 FLOAT32
526796 0x2168.17 Maximum torque symmetrical FLOAT32
856 0x2168.07 Limit value total current (closed loop control-
ler) FLOAT32
3014 0x2188.07 Setpoint generator output torque FLOAT32
7118 0x2162.05 Current nominal current FLOAT32
7139 0x2162.0C Resulting nominal torque FLOAT32
151 0x2157.02 Actual torque value gear shaft FLOAT32
814 0x2153.0F Actual active current value FLOAT32
480 0x2114.01 Actual value DC link voltage FLOAT32
526799 0x216F.0E Torque slope CiA402 FLOAT32
853 0x2168.04 Upper limit value torque (closed loop control-
ler) FLOAT32
852 0x2168.03 Lower limit value torque (closed loop control-
ler) FLOAT32
Tab. 198 Objects
Precondition for force/torque mode
The following conditions must be fulfilled for force/torque mode:
–
Modes of operation display (0x6061) = 4
– Statusword (0x6061) = XX0X XX1X X011 0111
b
Control and monitoring
Motion control
224 Festo — CMMT-ST-SW — 2019-02