Festo Электромотор MTR-DCI - Manual (Page 133)

5. Commissioning
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Festo P.BE-MTR-DCI-DN-EN en 1209a
5.5.4 Description of the I/O data (direct task)
O data – Direct task
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: preselection of velocity in % of the maximum
velocity
5 ... 8 B0...B31 Position
Force, ... Nominal value 2: preselection depending on the controller mode
of operation (see control byte 3 CDIR)
– Positioning mode: position in increments
– Force mode: force/torque in % of the rated current
O data – Direct task
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: acknowledgement depending on the controller
mode of operation (see control byte 3 CDIR)
– Positioning mode: preselection of speed in % of the
maximum speed
– Force mode: force/torque in % of the rated current.
5 ... 8 B0...B31 Position Actual value 2: acknowledgement of position in increments