Festo CMMT-ST-SW, Original Instructions Manual

Page: 364 / 616

Name Parameters ID Px.
+iq Resulting upper limit value active current (closed loop controller) 6109
M_in1 Lower limit value torque (closed loop controller) 852
M_in2 Upper limit value torque (closed loop controller) 853
M_in3 Maximum motor or servo drive controller torque 381
M_in4 Maximum driving torque axis 1199
–M Resulting lower limit value torque (closed loop controller) 6104
+M Resulting upper limit value torque (closed loop controller) 6105
v_in1 Lower limit value velocity (closed loop controller) 850
v_in2 Upper limit value velocity (closed loop controller) 851
v_in3 Maximum motor or servo drive controller velocity 382
–LIM2 Resulting lower limit value velocity (closed loop controller) 6100
+LIM2 Resulting upper limit value velocity (closed loop controller) 6101
Tab. 365 Legend for the block diagram of the control limitation
The resulting critical limit LIM2 affects the output of the position controllers
è 6.1.2 Position controller.
Parameters and diagnostic messages
ID Px. Parameters Description
Specifies the static limit value "Maximum torque" created from
the minimum of the maximum values of the motor or servo drive
controller.
Access read/−
Update effective immediately
381 Maximum motor or
servo drive controller
torque
Unit Nm
Specifies the static limit value "Maximum velocity" created from
the minimum of the maximum values of the motor or servo drive
controller.
Access read/−
Update effective immediately
382 Maximum motor or
servo drive controller
velocity
Unit user defined
Control
364 Festo — CMMT-ST-SW — 2019-02