User Manual

C. CI interface
C−30
Festo GDCP−SFC−LACI−DN−EN en 0812NH
Target Position
CI 607Ah 00h Var int32 rw
Description Target position in [Increments]
This position will be saved in the positioning record table in the line addressed
by object 2032h, in the column intended. No movement is made at this point.
See 20E0/02h
Profile Velocity
CI 6081h 00h Var int32 rw
Description Final speed for a positioning procedure in [Increments/s]
The value will be saved in the positioning record table in the line addressed by
object 2032h, in the column intended. No movement is made at this point.
See 20E0/03
h
Profile Acceleration
CI 6083h 00h Var uint32 rw
Description Acceleration for a positioning movement in [Increments/s
2
],
see 6081h and 20E0/04h
Profile Deceleration
CI 6084h 00h Var uint32 rw
Description Deceleration for a positioning movement in [Increments/s
2
]
Torque/Force Profile Type
CI 6088h 00h Var int16 r
Description Type of profile with which a force modification is undertaken.
Fixed: 0x0000  Linear ramp