Festo Электроцилиндр - Manual (Page 129)

B Control via Ethernet (CVE)
Festo – GDCP-CMMO-ST-EA-SY-EN – 1301a – English 129
#96 Position deviation
System SINT32 R/-/-/-/-
Current following error = actual position – setpoint position
Unit: SINC
Values: –2147483648 … 2147483647
#97 Deviation velocity
System SINT32 R/-/-/-/-
Current deviation of the speed controller (comparable to following error with position) =
actual speed – setpoint speed
Unit: SINC/s
Values: –2147483648 … 2147483647
#98 Current deviation
System SINT32 R/-/-/-/-
Current deviation of the current controller (comparable to following error with position) =
actual current – target current
Unit: mA
Values: –2147483648 … 2147483647
#99 Force deviation
System SINT16 R/-/-/-/-
Current deviation of the current controller converted into force (comparable to following error with
position) = actual force – target force
Unit: per mill of maximum motor current
Unit: ‰
Values: –32768 … 32767
#120 Nominal operating mode
Finite state machine SINT08 R/W1/W2/-/-
Permissible values are:
0: No operating mode selected
1: Positioning mode
3: Speed mode
4: Force mode/torque mode
6: Homing mode
–3: Jog positive
–4: Jog negative
Values: 0, 1, 3, 4, 6, –3, –4 Default: 0