Festo CMMT-ST-SW, Original Instructions Manual

Page: 243 / 616

Parameters Index.Subindex Name Data type
731 0x6041.00 Status word CiA402 UINT16
128 0x6064.00 Actual position value SINT32
1210 0x606C.00 Actual velocity value SINT32
526795 0x6071.00 Target torque CiA402 SINT16
526796 0x6072.00 Maximum torque symmetrical UINT16
151 0x6077.00 Actual torque value gear shaft SINT16
1170 0x607E.00 Reversing the direction of rotation UINT8
7123 0x6080.00 Maximum rpm (user defined) UINT32
Px. Manufacturer-specific objects: saved base unit for the object is effective.
730 0x216D.01 Control word CiA402 UINT16
731 0x216D.02 Status word CiA402 UINT16
128 0x2155.09 Actual position value SINT64
1210 0x2155.0B Actual velocity value FLOAT32
526795 0x216F.0D Target torque CiA402 FLOAT32
526796 0x2168.17 Maximum torque symmetrical FLOAT32
151 0x2157.02 Actual torque value gear shaft FLOAT32
1170 0x217D.01 Reversing the direction of rotation BOOL
7123 0x216C.06 Maximum rpm (user defined) FLOAT32
Tab. 219 Objects
Precondition for the cyclic synchronised force/torque mode
The following conditions must be fulfilled for the cyclic synchronised force/torque mode:
–
Modes of operation display (0x6061) = 10
– Statusword (0x6061) = XX0X XX1X X011 0111
b
Monitoring
Object 0x6041: Statusword
The following statuses of cyclic synchronised force/torque mode can be monitored with the object:
–
Bit 12: drive follows the command value (Drive follows the command value)
Bit
1)
Description
12
Drive follows the command value
0 Drive does not follow the command value (e. g. because a safety function is active)
Motion control
243 Festo — CMMT-ST-SW — 2019-02