User Manual

B. Parametrizing via field bus
B−86
Festo GDCP−SFC−LACI−DN−EN en 0812NH
Direct mode: Force m ode
Torque/Force Slope
PNU 550  uint32 r
Description Speed with which the force changes
CI 6087h 00h uint32 r
DeviceNet C: 105 A: 50 I: 1 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 twice the value transferred, with the
target position in the centre of the window.
The value is specified in
1
/
1000
of the rated torque (6076h / PNU 1036).
Value range: 0 ... 65535
Default: 100
CI 60F6h 03h uint16 rw
DeviceNet C: 105 A: 52 I: 1 uint16 rw
Force Target 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
DeviceNet C: 105 A: 53 I: 1 uint16 rw