Setpoint Value Limitation - Festo CiA 402 Manual

4 Setting parameters
Access
PDO Mapping
Units
Value Range
Default Value
4.7

Setpoint value limitation

Description of the objects
Objects addressed in this chapter
Index Object
2415 RECORD
h
Object 2415 : current_limitation
h
With the object group current_limitation, the maximum peak current for the motor can be limited in the
operating modes profile_position_mode, interpolated_position_mode, homing_mode und velo-
city_mode, which makes a torque-limited speed operation possible. The setpoint value source of the
limit torque is specified via the object limit_current_input_channel. Here, a choice can be made
between specification of a direct setpoint value (fixed value) or specification via an analogue input.
Depending on the source chosen, either the limit torque (source = fixed value) or the scaling factor for
the analogue inputs (source = analogue input) is specified via the object limit_current. In the first case,
the torque-proportional current, in mA, is limited directly. In the second case, the current that should
correspond to a voltage of 10 V is specified, in mA.
Index
Name
Object Code
No. of Elements
Sub-Index
Description
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
76
rw
yes
ms
0 ... 65536
400
Name
current_limitation
2415
h
current_limitation
RECORD
2
01
h
limit_current_input_channel
UINT8
rw
no
–
0 ... 4
0
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Type Attr.
rw