Instruction Manual

B. Supplementary information
B−66
Festo P.BE−GDCP−SFC−LACI−PB−E N en 0812NH
Direct mode: Force mode
Torque/Force Slope
PNU 550  uint32 r
Description Speed with which the force changes
CI 6087h 00h uint32 r
Force Target Window
PNU 552   uint16 rw
Description Target window of the force: This is the amount by which the actual force may
differ from the setpoint force in order to be interpreted as still being in the
target window.
The width of the window is thus twice the value transferred, with the target
position in the centre of the window.
The value is specified in
1
/
1000
of the nominal value (6076h / PNU 1036).
Value range: 0 ... 65535. Default: 100
CI 60F6h 03h uint16 rw
Force Damping Time
PNU 553   uint16 rw
Description Damping time of the force: If the actual force has been in the target window
this amount of time, the Motion Complete" bit will be set in the status word.
Value range: 0 ... 30000 ms. Default: 100 ms
CI 60F6h 04h uint16 rw
Speed Limit
PNU 554   uint32 rw
Description Maximum permitted velocity with active force control.
In this way you can ensure that, if force control is activated by mistake
(e.g.work item missing), the axis will not undergo uncontrolled acceleration
and move at high speed against a stop.
This parameter is taken into account in all control modes in which the position
controller is not active in the status Operation enabled".
CI 60F6h 02h uint32 rw