Festo Электромотор MTR-DCI - Manual (Page 132)

5. Commissioning
5-44
Festo P.BE-MTR-DCI-PB-EN en 1209a
Description of the special control bytes
– Direct mode
Control byte 3 (CDIR) – Direct mode
Bit EN Description
B0
ABS Absolute/ Relative = 0: Nominal value is absolute
= 1: Nominal value is relative to last nominal value
B1
COM1 Control Mode = 00: Position control
= 01: Force mode
= 10: Reserved
= 11: Reserved
B2
COM2
B3
CONT – Reserved, must be at 0
B4
VLIM – Reserved, must be at 0
B5
XLIM Stroke ( X-) limit not active Force mode
= 0: Stroke monitoring active
= 1: Stroke monitoring not active
B6
FAST – Reserved, must be at 0
B7
FUNC – Reserved, must be at 0
Control byte 4 (nominal value 1) – Direct mode
Bit EN Description
B0 ... B7 Velocity Preselection of velocity in % of the maximum velocity
Control bytes 5... 8 (nominal value 2) – Direct mode
Bit EN Description
B0...B31 Position, force, ... Preselection of the position in increments or of the
force in % of nominal current