Festo Электромотор MTR-DCI - Manual (Page 140)

5. Commissioning
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Festo P.BE-MTR-DCI-CO-EN en 1209a
5.5.4 Description of the I/O data (Direct mode)
Output data – direct mode
Byte Bit EN Description
1 B0 ... B7 CCON Control bytes, see chapter 5.5.5
2 B0 ... B7 CPOS
3 B0 ... B7 CDIR
4 B0 ... B7 Velocity Nominal value 1 Velocity in % of the maximum speed
5 ... 8 B0...B31 Position
Force, ... Nominal value 2 Specification depends on the controller operat-
ing mode (see control byte 3 CDIR)
– Positioning mode Position in increments
– Power operation Force/torque in % of the rated current
Input data – direct mode
Byte Bit EN Description
1 B0 ... B7 SCON Status bytes, see chapter 5.5.6
2 B0 ... B7 SPOS
3 B0 ... B7 SDIR
4 B0 ... B7 Velocity
Force/torque Actual value 1 Reply message depends on the controller operat-
ing mode (see control byte 3 CDIR)
– Positioning mode Velocity in % of the maximum speed
– Power operation Force/torque in % of the rated current
5 ... 8 B0...B31 Position Actual value 2 Reply message position in
increments