Festo Электромотор MTR-DCI - Manual (Page 126)

5. Commissioning
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Festo P.BE-MTR-DCI-PB-EN en 1209a
The MTR-DCI cannot work in a stand-alone manner, i.e. it does
not support any user program of its own. Records cannot be
processed automatically using programmable logic. The drive
cannot accomplish any practical tasks with in stand-alone
mode; close coupling to the PLC is necessary.
Direct mode
In Direct mode, positioning tasks are formulated directly in
the master's output data.
Position mode The usual application is to calculate dynamically the nominal
target values for each task, or just for some tasks. Adaptation
to different workpiece sizes is therefore possible. In this case,
it is not practical to assign parameters to the record list every
time. The positioning data are managed completely in the PLC
and sent directly to the MTR-DCI. Here also, close coupling
between the PLC and the MTR-DCI is necessary.
Force mode Alternatively, nominal values can be specified in Direct mode
relative to the nominal motor current. This gives a torque
and, in the case of linear drives, a force (= force control).