Festo CMMT-ST-SW, Original Instructions Manual

Page: 371 / 616

ID Px. Parameters Description
Specifies the resulting maximum torque for torque limitation.
Access read/−
Update effective immediately
6105 Resulting upper limit
value torque (closed
loop controller)
Unit −
Specifies the limit value "Lower limit value of the active cur-
rent". (Conversion to the output-side torque is an internal calcu-
lation)
Access read/−
Update effective immediately
6108 Resulting lower limit
value active current
(closed loop control-
ler)
Unit Arms
Specifies the limit value "Upper limit value of the active cur-
rent". (Conversion to the output-side torque is an internal calcu-
lation)
Access read/−
Update effective immediately
6109 Resulting upper limit
value active current
(closed loop control-
ler)
Unit Arms
Specifies the limit value of the total current.
Access read/−
Update effective immediately
6112 Resulting upper limit
value total current
(closed loop control-
ler)
Unit Arms
Tab. 370 Parameters
Diagnostic messages
No specific diagnostic messages are allocated to the function.
6.2.3.1 CiA 402
Torque limitation objects
Parameters Index.Subindex Name Data type
Px. Manufacturer-specific objects: saved basic unit for the object is effective.
87 0x2153.08 Reactive current setpoint value FLOAT32
856 0x2168.07 Limit value total current (closed loop control-
ler) FLOAT32
2218 0x215B.0A Minimum torque FLOAT32
2219 0x215B.0B Maximum torque FLOAT32
Control
371 Festo — CMMT-ST-SW — 2019-02