Festo Электромотор MTR-DCI User Manual
Page 302
C. The Command Interpreter (CI)
C-28
Festo P.BE-MTR-DCI-DN-EN en 1209a
Modes of Operation
CI
6060h
00h
Var
int8
rw
Description
Set the controller operation mode.
Values:
-2 (0xFE): Demo mode (fixed sequence)
1 (0x01): Profile Position Mode (default, position controller with positioning
mode)
3 (0x03): Reserved
4 (0x04): Profile Torque Mode (Force mode)
6 (0x06): Homing Mode
Modes of Operation Display
CI
6061h
00h
Var
int8
ro
Description
Read current controller operation mode.
For values, see object 6060h.
Position Actual Value
CI
6063h
00h
Var
int32
ro
Description
Current position of the drive in increments.
Value range: -2
31
... +(2
31
-1)
Value is only updated at the end of a controller cycle.
Velocity Demand Value
CI
606Bh
00h
Var
int32
ro
Description
Current nominal speed value of speed regulator in increments/s.
Value range: -2
31
... +(2
31
-1)
Velocity Actual Value
CI
606Ch
00h
Var
int32
ro
Description
Current actual speed value of speed regulator in increments/s.
Value range: -2
31
... +(2
31
-1)