5. A
d
ju
s
t
men
t of p
a
r
ame
t
e
r
s/
Lo
ad
and
sa
v
e
se
t of p
a
r
ame
t
e
r
s
5
−
53
Fes
to
P
.
B
E
−S
EC
−
AC
−
C
O−
E N
en
0802
a
Th
e
po
s
itio
n
c
o
n
troll
e
r
c
o
m
p
a
r
es
th
e
des
ir
ed
po
s
itio
n
with
th
e
ac
tu
a
l po
s
itio
n
and
for
ms
a
c
orr
ec
tio
n
s
p
eed
(
Ob
j
ec
t
60FA
h
: control_effort
). Thi
s
c
orr
ec
tio
n
s
p
eed
i
s
s
uppli
ed
to
th
e
s
p
eed
c
o
n
troll
e
r. Th
e
po
s
itio
n
c
o
n
troll
e
r i
s
r
e
l
a
tiv
e
ly
s
low
c
o
m
p
a
r
ed
to th
e
c
urr
en
t
c
o
n
troll
e
r
and
s
p
eed
c
o
n
troll
e
r.
Th
e
r
e
for
e
th
e
c
o
n
troll
e
r i
n
t
e
r
na
lly wor
ks
with f
eed
forw
a
r
d
s
o
th
a
t th
e
c
orr
ec
tio
n
wor
k
for th
e
po
s
itio
n
c
o
n
troll
e
r i
s
m
i
n
i
m
i
sed
r
eac
hi
ng
a
f
as
t
se
ttli
ng
ti
me
.
Us
u
a
lly
a
proportio
na
l
c
o
n
trol u
n
it i
s
s
uffi
c
i
en
t
as
po
s
itio
n
c
o
n
troll
e
r. Th
e
ga
i
n
of th
e
po
s
itio
n
c
o
n
troll
e
r h
as
to
be
m
ulti
pli
ed
b
y 256. I
n
case
of
a
ga
i
n
of 1.5 i
n
th
e
men
u
P
o
s
itio
n
c
o
n
troll
e
r of th
e
p
a
r
ame
t
e
r
se
t
−
up pro
g
r
am
th
e
v
a
lu
e
38
4
=
180
h
h
as
to
be
writt
en
i
n
to th
e
o
b
j
ec
t
position_control_gain
.
Nor
ma
lly th
e
po
s
itio
n
c
o
n
troll
e
r
can
wor
k
without
an
i
n
t
eg
r
a
tor. I
n
thi
s
case
0 h
as
to
be
writt
en
i
n
to th
e
o
b
j
ec
t
posi
tion_control_time
.
O
th
e
rwi
se
th
e
ti
me
c
o
ns
t
an
t of th
e
po
s
i
tio
n
c
o
n
troll
e
r h
as
to
be
c
o
n
v
e
rt
ed
to
m
i
c
ro
sec
o
nds
.
S
o th
e
v
a
lu
e
4
000 h
as
to
be
writt
en
i
n
to th
e
o
b
j
ec
t
position_con
trol_time
i
n
case
of
a
ti
me
of
4
.0
m
illi
sec
o
nds
.
Please note
Th
e
r
es
olutio
n
of th
e
o
b
j
ec
t
position_control_time
(
60FB
h
_02
h
) i
s
4
09.6
μ
s
. Th
e
r
e
for
e
th
e
r
e
r
ead
v
a
lu
e
ma
y
d
iff
e
r fro
m
th
e
writt
en
o
ne
.
A
s
th
e
po
s
itio
n
c
o
n
troll
e
r
e
v
en
tr
ans
for
ms
sma
ll
es
t
de
vi
a
tio
ns
i
n
to
a
c
o
ns
i
de
r
ab
l
e
c
orr
ec
tio
n
s
p
eed
, v
e
ry hi
g
h
c
orr
ec
tio
n
s
p
eeds
ma
y o
cc
ur i
n
case
of
a
s
hort
d
i
s
tur
bance
(
e
.
g
.
s
hort
b
lo
ck
i
ng
). Thi
s
can
be
a
voi
ded
if th
e
output of th
e
po
s
itio
n
c
o
n
troll
e
r i
s
adeq
u
a
t
e
ly li
m
it
ed
(
e
.
g
. 500 rp
m
) vi
a
th
e
o
b
j
ec
t
position_control_v_max
.
Th
e
o
b
j
ec
t
position_error_tolerance_window
de
t
e
r
m
i
nes
th
e
ma
xi
m
u
m
c
o
n
trol
de
vi
a
tio
n
without r
eac
tio
n
of th
e
po
s
itio
n
c
o
n
troll
e
r. Th
e
r
e
with it i
s
po
ss
i
b
l
e
to
e
v
en
out
back
l
as
h withi
n
th
e
pl
an
t.
Summary of Contents for SEC-AC-305-CO
Page 2: ......
Page 4: ...Contents and general instructions II Festo P BE SEC AC CO EN en 0802a...
Page 16: ...Contents and general instructions XIV Festo P BE SEC AC CO EN en 0802a...
Page 17: ...Introduction 1 1 Festo P BE SEC AC CO EN en 0802a Chapter 1...
Page 20: ...1 Introduction 1 4 Festo P BE SEC AC CO EN en 0802a...
Page 21: ...Cabling and pin assignment 2 1 Festo P BE SEC AC CO EN en 0802a Chapter 2...
Page 31: ...Activation of CANopen 3 1 Festo P BE SEC AC CO EN en 0802a Chapter 3...
Page 38: ...3 Activation of CANopen 3 8 Festo P BE SEC AC CO EN en 0802a...
Page 39: ...Access methods SDO access 4 1 Festo P BE SEC AC CO EN en 0802a Chapter 4...
Page 155: ...Device Control State diagram State machine 6 1 Festo P BE SEC AC CO EN en 0802a Chapter 6...
Page 221: ...7 Operating modes Adjustment of the Operating Mode 7 43 Festo P BE SEC AC CO EN en 0802a...
Page 247: ...Technical appendix A 1 Festo P BE SEC AC CO EN en 0802a Appendix A...
Page 250: ...A Technical appendix A 4 Festo P BE SEC AC CO EN en 0802a...
Page 251: ...Index B 1 Festo P BE SEC AC CO EN en 0802a Appendix C...
Page 252: ...B Index B 2 Festo P BE SEC AC CO EN en 0802a C 1 Index B 3...
Page 272: ...B Index B 22 Festo P BE SEC AC CO EN en 0802a...
