Festo Электромотор MTR-DCI - Manual (Page 161)

B. Supplementary information
B-25
Festo P.BE-MTR-DCI-IO-EN en 1209d
Group 6xxx
Note
The control parameters (6068h, 60FBh) of the MTR-DCI are
pre-set. Modification is only permitted for service purpo-
ses. If necessary consult Festo.
Control_Word
CI access 6040h 00h Var uint16 w
Description Modify the current regulator status or trigger an activity.
As status modifications require a certain amount of time, all status modifica-
tions triggered via the Control Word must be read back via the Status Word
(Object 6041). Only when the requested status can be read in the Status Word,
may a further command be written via the Control Word.
Typical values see Tab. B/1.
Value Mask Function
0x000F – ENABLE OPERATION Controller enable
0x000D 0x000D VOLTAGE DISABLED end stage OFF
0x001F – Start ABSOLUTE movement
0x005F – Start RELATIVE movement
0x010F 0x0100 Stop movement
0x008F 0x0080 Reset fault + ENABLE OPERATION
Reply without 0x0080 – mask
0x004F 0x0040 Set target position as RELATIVE
Tab. B/1: Typical values of the control word