Festo EXCM-30 -PF Series, Руководство пользователя

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B CANopen
78 Festo – EXCM-30/-40-...-PF-EN – 1603 – English
Index Explanation Attr. Type Designation Su­
bindex
21F6h 0 Max. permissible
speed
UINT32 rw General system limitation
Specification: 0
Unit: [SINC/s] (1 mm = 1000 SINC)
21F7h 0 Maximum permitted
acceleration
UINT32 rw General system limitation; default: 0
Unit: [SINC/s²] (1 mm = 1000 SINC)
21F8h 0 Current acceleration
for direct mode
UINT32 rw Condition: not > max. permissible accel­
eration; default: 0
Unit: [SINC/s²] (1 mm = 1000 SINC)
21F9h 0 Max. following error
for direct mode
UINT32 rw
Unit: [SINC] (1 mm = 1000 SINC)
21FAh 0 Path jerk for direct op­
eration
UINT32 rw Unit: [(SINC/s
3
)/10]
(1 mm = 1000 SINC)
2200h 0 Positive SW end posi­
tion X
INT32 rw Positive SW end position X; default: 0
Unit: [SINC] (1 mm = 1000 SINC)
2201h 0 Negative SW end posi­
tion X
INT32 rw Negative SW end position X; default: 0
Unit: [SINC] (1 mm = 1000 SINC)
2202h 0 Positive SW end posi­
tion Y
INT32 rw Positive SW end position Y; default: 0
Unit: [SINC] (1 mm = 1000 SINC)
2203h 0 Negative SW end posi­
tion Y
INT32 rw Negative SW end position Y; default: 0
Unit: [SINC] (1 mm = 1000 SINC)
3000h 0 Control word UINT16 rw Byte 1: control byte CCON (
è
5.2.2)
Byte 2: control byte CPOS (
è
5.2.2)
3001h 0 Target record number
or path speed
UINT16 rw Dependent on the operating mode:
Record selection: target record
number 0 … 31
Direct mode: speed [mm/s]
3002h 0 Target position X-axis INT16 rw Unit [0.1 mm]
3003h 0 Target position Y-axis INT16 rw Unit [0.1 mm]
3020h 0 Status word UINT16 ro Byte 1: status byte SCON (
è
5.2.3)
Byte 2: status byte SPOS (
è
5.2.3)
3021h 0 Actual record number
or error number
UINT16 ro Dependent on the operating mode:
Record selection: record and error
number
Direct mode: error number
(Error number 0xFF = no error)
3022h 0 Actual position X-axis INT16 ro Unit [0.1 mm]
3023h 0 Actual position Y-axis INT16 ro Unit [0.1 mm]
1) When setting the project zero point (PZ), consider the resulting range of setpoint and actual values.
The sum of project zero point (PZ) and stroke must be less than 3276.8 mm (
è
Tab. 2.1 Explanation of dimension reference points)
Tab. B.1 CANopen object overview