Instruction Manual

B. Supplementary information
B−61
Festo P.BE−GDCP−SFC−LACI−PB−EN en 0812NH
Force mode
Stroke Limit
PNU 510   uint32 rw
Description Stroke limitation: Maximum permitted stroke with force control. The distance of
the actual position from the start position must not be more than the amount
specified in this parameter. In this way you can ensure that, if force control is
activated by mistake (e.g. missing work item), the axis will not perform an un
controlled movement. This parameter is taken into account in all control modes
in which the position controller is not active in the status Operation enabled".
Monitoring can be deactivated when bit RCB1.B5 is set.
CI 60F6h 01h uint32 rw
Min. Torque/Force
PNU 511   uint16 r
Description The lowest permitted torque of the motor in per mill of the rated value
(6076h / PNU1036). Fixed = 300
CI 60F6h 05h uint16 r
Max. Torque/Force
PNU 512   uint16 rw
Description The highest permitted torque of the motor in per mill of the rated value
(6076h / PNU1036). Values: 0 ... 1000
CI 6072h 00h uint16 rw
Torque/Force Profile Type
PNU 513  int16 r
Description Type of profile with which a force modification is undertaken.
Fixed = 0: linear ramp
CI 6088h 00h int16 r