Festo CiA 402 Manual page 75

4 Setting parameters
Object 60FA : control_effort
h
The output variable of the position controller can be read via this object. This value is internally fed to
the speed regulator as setpoint value.
Index
Name
Object Code
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
Object 6067 : position_window
h
With the object position_window, a symmetrical area is defined around the target position
(target_position). If the actual position value (position_actual_value) lies within this area for a certain
time, the target position (target_position) is considered reached.
Index
Name
Object Code
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
Object 6068 : position_window_time
h
If the actual position of the drive is located within the positioning window (position_window) for as long
as defined in this object, the related bit 10 target_reached is set in the statusword.
Index
Name
Object Code
Data Type
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
60FA
H
control_effort
VAR
INT32
ro
yes
speed units
–
–
6067
h
position_window
VAR
UINT32
rw
yes
position units
–
7AE
h
6068
h
position_window_time
VAR
UINT16
75