Festo SFC-LAC CO Series, Manual, Page: 163 / 328

5. Commissioning
5−73
Festo P.BE−SFC−LAC−CO−EN en 0708NH
Overview of parameters involved (see appendix B.2.8)
Description FCT PNU CI
Positioning mode Acceleration/Deceleration x 541 20EE/34h
Force control
1)
Stroke limitation x 510 60F6/01h
Minimum force (fix 30 % of the rated value) x 511 60F6/05h
Maximum force x 512 6072h
Force target window (tolerance) x 552 60F6/03h
Damping time in [ms] x 553 60F6/04h
Max. permitted speed x 554 60F6/02h
Start (FHPP) CPOS.B1 = positive edge
(CDIR.B0 = nominal position absolute/relative)
Reply message (FHPP) SPOS.B2 = 0: Motion Complete
SPOS.B1 = positive edge: Acknowledge Start
SPOS.B4 = 1: Drive moves
Requirement Device control by PLC/field bus
Controller must be in status Operation enabled"
1)
Further parameters:
6071h Target torque
6076h Rated torque
6077h Actual torque 6087h Torque slope
6088h Torque profile type CDIR.B5 Stroke limitation active/inactive
Tab.5/18: Parameters involved in Direct mode
Notes on force control
Control of the motor force takes place indirectly by means
of the current regulation. All specifications on forces/
torques refer to the rated motor torque (relative to the
rated motor current). The actual force at the axis should be
calculated/checked and then set with external measuring
devices during commissioning.