User Manual

C. CI interface
C−26
Festo GDCP−SFC−LACI−DN−EN en 0812NH
Jerk Acc. 20E0h 05h uint32
Acceleration jerk in [Increments/s
3
]. Corresponds to 20E7h
Work Load 20E0h 06h uint32
Mass of a work item in [g] for a positioning record. Corresponds to 20E8h
Damping Time 20E0h 07h uint16
Damping time in milliseconds [ms]. If the actual position has been in the target
position window for this amount of time, the Motion Complete" bit is set in the
status word.
Values: 1 ... 60000 ms. Corresponds to 20E6h
Record Delay 20E0h 08h int32
For record chaining (=set chaining): The time between Motion Complete" of a
chained positioning record and the start of the next positioning record.
Value range: 1 ... 60000 ms. Corresponds to 20E4h
Following Record 20E0h 09h uint8
The subsequent positioning record for a positioning record with a chaining
condition = 1.
Values: 1 ... 31. Corresponds to 20E5h
Deceleration 20E0h 0Ah int32
Setpoint value for deceleration in [Increments/s
2
]. The value applies only to
positioning; with force control the value is ignored. Corresponds to 20EFh
Jerk Dec. 20E0h 0Bh uint32
Jerk when decelerating in [Increments/s
3
]. Corresponds to 21E1h
Data Memory Control  Reset Device
CI 20F1h 03h Array uint8 w
Description 0x10: Reset device (EEPROM is not erased, status is identical to that after
switching off/on). Further sub−indices of 20F1h: See PNU 127