Festo CMMT-ST-SW, Original Instructions Manual

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ID Px. Parameters Description
Specifies the limit value "maximum torque" for the symmetrical
torque limitation at the output of the velocity controller.
Access read/write
Update effective immediately
526796 Maximum torque sym-
metrical
Unit Nm
Tab. 350 Parameters
ID Dx. Name Description
06 | 02 | 00086
(100794454) Sign limits Setpoint torque and velocity limit do not
match
Tab. 351 Diagnostic messages
6.1.3.1 CiA 402
Velocity controller objects
Parameters Index.Subindex Name Data type
Px. CiA402: factor group is effective.
1210 0x606C.00 Actual velocity value SINT32
526796 0x6072.00 Maximum torque symmetrical UINT16
Px. Manufacturer-specific objects: saved basic unit for the object is effective.
224 0x215B.05 Velocity controller amplification gain FLOAT32
225 0x215B.06 Velocity controller integration constant FLOAT32
1210 0x2155.0B Actual velocity value FLOAT32
2215 0x215B.07 Velocity control error FLOAT32
2216 0x215B.08 Setpoint value velocity controller FLOAT32
2218 0x215B.0A Minimum torque FLOAT32
2219 0x215B.0B Maximum torque FLOAT32
2220 0x215B.0C Setpoint value torque FLOAT32
52676 0x2152.0A Current limitation active BOOL
526796 0x2168.17 Maximum torque symmetrical FLOAT32
Tab. 352 Objects
6.1.4 Current regulator
The current regulator consists of an active current regulator and a reactive current regulator which
specify the voltage setpoint values for the secondary power output stages.
Control
349 Festo — CMMT-ST-SW — 2019-02