Festo CMMT-ST-SW, Оригинальное руководство пользователя

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6.2.1.1 CiA 402
Application limit objects
Parameters Index.Subindex Name Data type
Px. CiA402: factor group is effective.
1304 0x607F.00 Limit value velocity limiting UINT32
1305 0x60C5.00 Limit value acceleration limiting UINT32
1306 0x60C6.00 Limit value deceleration limiting UINT32
Px. Manufacturer-specific objects: saved basic unit for the object is effective.
1301 0x2183.01 Velocity limiting status BOOL
1302 0x2183.02 Acceleration limiting status BOOL
1303 0x2183.03 Torque limiting status BOOL
1304 0x2183.04 Limit value velocity limiting FLOAT32
1305 0x2183.05 Limit value acceleration limiting FLOAT32
1306 0x2183.06 Limit value deceleration limiting FLOAT32
1307 0x2183.07 Upper limit torque limitation FLOAT32
1308 0x2183.08 Lower limit torque limitation FLOAT32
Tab. 364 Objects
6.2.2 Control limitation
The cascade controller has two limitations, one limiter for the velocity setpoint and one for the torque
setpoint and the active current setpoint. Here the critical limits for the respective limiters are com-
posed of static and dynamic data. Static data are values that are composed of the configuration of the
drive system, the size of the servo drive controller and the motor used. Dynamic data () are composed
of the specifications of the user and the data from the I²t monitoring. The values can be adjusted by
the user at any time.
Control
362 Festo — CMMT-ST-SW — 2019-02